Convert image to BGR8 as expected by libsvo (uzh-rpg#51)

kazeka · Jan 21, 2020 · 47b35ed · 47b35ed
1 parent d465dd9
commit 47b35ed
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/svo_ros/src/svo_interface.cpp b/svo_ros/src/svo_interface.cpp
@@ -195,7 +195,8 @@ void SvoInterface::monoCallback(const sensor_msgs::ImageConstPtr& msg)
   cv::Mat image;
   try
   {
-    image = cv_bridge::toCvCopy(msg)->image;
+    // convert image to BGR8 as expected by libsvo
+    image = cv_bridge::toCvShare(msg, sensor_msgs::image_encodings::BGR8)->image;
   }
   catch (cv_bridge::Exception& e)
   {