bgr8 input for RGBDOdometry node

Posted by yanmingz on
URL: http://official-rtab-map-forum.206.s1.nabble.com/bgr8-input-for-RGBDOdometry-node-tp1003.html

Hi Mathieu,

When checking the performance difference between standalone version and ros version, I found that the color image input to RGBDOdometry node is converted to grey-level image before the callback function is called.

I read your code, but can't find where the conversion is done or set to be done.

Could you tell me how I can input the color image to the callback function? Thank you very much.

Best regards
Yanming