From 47b35ed37284603cb8ce319d366e06bd756ac21c Mon Sep 17 00:00:00 2001
From: Alexander Kazeka <alexander.kazeka@gmail.com>
Date: Tue, 21 Jan 2020 21:18:00 +0300
Subject: [PATCH] Convert image to BGR8 as expected by libsvo
 (https://github.com/uzh-rpg/rpg_svo_example/issues/51)

---
 svo_ros/src/svo_interface.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/svo_ros/src/svo_interface.cpp b/svo_ros/src/svo_interface.cpp
index 660ea9d..fda14ac 100644
--- 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)
   {