diff --git a/modules/3d/include/opencv2/3d/odometry_frame.hpp b/modules/3d/include/opencv2/3d/odometry_frame.hpp
index f0c376c69c..d7362eea65 100644
--- a/modules/3d/include/opencv2/3d/odometry_frame.hpp
+++ b/modules/3d/include/opencv2/3d/odometry_frame.hpp
@@ -72,7 +72,7 @@ public:
      * 
      * @param depth Output image
      */
-    void getScaledDepth(OutputArray depth) const;
+    void getProcessedDepth(OutputArray depth) const;
     /**
      * @brief Get the valid pixels mask generated for the ICP calculations intersected with the user-provided mask
      * 
diff --git a/modules/3d/src/rgbd/odometry_frame_impl.cpp b/modules/3d/src/rgbd/odometry_frame_impl.cpp
index 3bde589443..b1026d52a0 100644
--- a/modules/3d/src/rgbd/odometry_frame_impl.cpp
+++ b/modules/3d/src/rgbd/odometry_frame_impl.cpp
@@ -35,7 +35,7 @@ OdometryFrame::OdometryFrame(InputArray image, InputArray depth, InputArray mask
 void OdometryFrame::getImage(OutputArray image) const { this->impl->getImage(image); }
 void OdometryFrame::getGrayImage(OutputArray image) const { this->impl->getGrayImage(image); }
 void OdometryFrame::getDepth(OutputArray depth) const { this->impl->getDepth(depth); }
-void OdometryFrame::getScaledDepth(OutputArray depth) const { this->impl->getScaledDepth(depth); }
+void OdometryFrame::getProcessedDepth(OutputArray depth) const { this->impl->getProcessedDepth(depth); }
 void OdometryFrame::getMask(OutputArray mask) const { this->impl->getMask(mask); }
 void OdometryFrame::getNormals(OutputArray normals) const { this->impl->getNormals(normals); }
 
@@ -61,7 +61,7 @@ void OdometryFrame::Impl::getDepth(OutputArray _depth) const
     _depth.assign(this->depth);
 }
 
-void OdometryFrame::Impl::getScaledDepth(OutputArray _depth) const
+void OdometryFrame::Impl::getProcessedDepth(OutputArray _depth) const
 {
     _depth.assign(this->scaledDepth);
 }
diff --git a/modules/3d/src/rgbd/odometry_functions.cpp b/modules/3d/src/rgbd/odometry_functions.cpp
index c395dee2e0..beb2683cb1 100644
--- a/modules/3d/src/rgbd/odometry_functions.cpp
+++ b/modules/3d/src/rgbd/odometry_functions.cpp
@@ -262,7 +262,7 @@ static void prepareRGBFrameBase(OdometryFrame& frame, OdometrySettings settings)
 
     //TODO: don't use scaled when scale bug is fixed
     UMat scaledDepth;
-    frame.getScaledDepth(scaledDepth);
+    frame.getProcessedDepth(scaledDepth);
     if (scaledDepth.empty())
     {
         scaledDepth = prepareScaledDepth(frame);
@@ -348,7 +348,7 @@ static void prepareICPFrameBase(OdometryFrame& frame, OdometrySettings settings)
 {
     //TODO: don't use scaled when scale bug is fixed
     UMat scaledDepth;
-    frame.getScaledDepth(scaledDepth);
+    frame.getProcessedDepth(scaledDepth);
     if (scaledDepth.empty())
     {
         scaledDepth = prepareScaledDepth(frame);
@@ -410,7 +410,7 @@ static void prepareICPFrameDst(OdometryFrame& frame, OdometrySettings settings,
     settings.getCameraMatrix(cameraMatrix);
 
     UMat scaledDepth, mask, normals;
-    frame.getScaledDepth(scaledDepth);
+    frame.getProcessedDepth(scaledDepth);
     frame.getMask(mask);
     frame.getNormals(normals);
 
@@ -439,6 +439,7 @@ static void prepareICPFrameDst(OdometryFrame& frame, OdometrySettings settings,
         normalsComputer->apply(c0, normals);
         frame.impl->normals = normals;
     }
+    CV_Assert(normals.type() == CV_32FC4);
 
     const std::vector<UMat>& dpyramids = frame.impl->pyramids[OdometryFramePyramidType::PYR_DEPTH];
 
diff --git a/modules/3d/src/rgbd/utils.hpp b/modules/3d/src/rgbd/utils.hpp
index cca2e9464f..d935c98055 100644
--- a/modules/3d/src/rgbd/utils.hpp
+++ b/modules/3d/src/rgbd/utils.hpp
@@ -247,7 +247,7 @@ public:
     virtual void getImage(OutputArray image) const ;
     virtual void getGrayImage(OutputArray image) const ;
     virtual void getDepth(OutputArray depth) const ;
-    virtual void getScaledDepth(OutputArray depth) const ;
+    virtual void getProcessedDepth(OutputArray depth) const ;
     virtual void getMask(OutputArray mask) const ;
     virtual void getNormals(OutputArray normals) const ;
 
diff --git a/modules/3d/test/test_odometry.cpp b/modules/3d/test/test_odometry.cpp
index c67aeeaae8..941863a434 100644
--- a/modules/3d/test/test_odometry.cpp
+++ b/modules/3d/test/test_odometry.cpp
@@ -310,8 +310,7 @@ void OdometryTest::prepareFrameCheck()
         ASSERT_LE(grayNorm, 0.0);
     }
 
-    //TODO: remove it when scale issue is fixed
-    odf.getScaledDepth(scaled);
+    odf.getProcessedDepth(scaled);
     int scalednz = countNonZero(scaled);
     EXPECT_EQ(scalednz, depthnz);