Re: bgr8 input for RGBDOdometry node

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/bgr8-input-for-RGBDOdometry-node-tp1003p1004.html

Hi Yanming,

In ROS, the conversion is done here:

cv_bridge::CvImageConstPtr ptrImage = cv_bridge::toCvShare(image, image->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1)==0?"":"mono8");

Visual odometry uses gray-scale images so it is why they are converted to mono8 if they are bgr8 or rgb8. If they are not converted here, they will be in Odometry implementation like in the standalone version (OdometryOpticalFlow here and OdometryBOW indirectly from Memory object used here).

Regards,
Mathieu