SVO Monocular code does not work with images in "mono16" format (TUM-VI)

[joshi-bharat]

The images from (TUM-VI dataset cannot be loaded with error Unknown image type 2!. It would be better if you could add support for "mono16" images as well.

[slinshady89]

I had the same issue.
go to svo_interface line 198 and change:

image = cv_bridge::toCvCopy(msg)->image;

to

image = cv_bridge::toCvShare(imageMessage, sensor_msgs::image_encodings::BGR8)->image;

But somehow the tracking of features is lost sometimes maybe due to my change.
Probably a conversion with cv::cvtColor(src, bwsrc, cv::COLOR_RGB2GRAY); would do it. I should check that too for myself ;)

[joshi-bharat]

I actually converted the dataset to mono8. Not sure about the SVO performance though.