Comments (7)
Yes, it is behaviour of cv_bridge to refuse converting converting the 8UC1
format to intensities (even if the underlying data type is the same as mono8
), see for example ros-perception/vision_opencv#175.
So yeah, the source needs to be fixed, or possibly open_vins could be patched to do the conversion on the fly before calling cv_bridge, if you want that.
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It looks like you are subscribing to a topic that is published as type 8UC1
.
I believe this is normally if the image is a depth map.
You will need to either manually convert it, or change your driver to publish in a good format.
Post an example bag file if you are able to.
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@goldbattle ,I just replace all "mono8" in source code with "TYPE_8UC1",it can work but always drift.
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@goldbattle could github upload bag file?After my modification,the system always fail to initialization.
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Please reopen if you wish to troubleshoot any further, thanks!
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