How to convert the thermal infrared image in 8UC3 format to the image in mono8 image available in SLAM

[504115681]

Hello, this is a good job! Now I have some problems. I don't know how to convert the thermal infrared image in 8UC3 format to mono8 image available in SLAM. Thank you for any help!

[sjtuyinjie]

Here is a demo code converting 8UC1 to mono8. You can take a look:

cv::Mat getImageFromMsg(const sensor_msgs::ImageConstPtr &img_msg) { cv_bridge::CvImageConstPtr ptr; if (img_msg->encoding == "8UC1") { sensor_msgs::Image img; img.header = img_msg->header; img.height = img_msg->height; img.width = img_msg->width; img.is_bigendian = img_msg->is_bigendian; img.step = img_msg->step; img.data = img_msg->data; img.encoding = "mono8"; ptr = cv_bridge::toCvCopy(img, sensor_msgs::image_encodings::MONO8); } else ptr = cv_bridge::toCvCopy(img_msg, sensor_msgs::image_encodings::MONO8);

cv::Mat img = ptr->image.clone();

return img; }

try replacing "8UC1" with "8UC3"

[504115681]

Thanks!!!

[504115681]

Here is a demo code converting 8UC1 to mono8. You can take a look:

cv::Mat getImageFromMsg(const sensor_msgs::ImageConstPtr &img_msg) { cv_bridge::CvImageConstPtr ptr; if (img_msg->encoding == "8UC1") { sensor_msgs::Image img; img.header = img_msg->header; img.height = img_msg->height; img.width = img_msg->width; img.is_bigendian = img_msg->is_bigendian; img.step = img_msg->step; img.data = img_msg->data; img.encoding = "mono8"; ptr = cv_bridge::toCvCopy(img, sensor_msgs::image_encodings::MONO8); } else ptr = cv_bridge::toCvCopy(img_msg, sensor_msgs::image_encodings::MONO8);

cv::Mat img = ptr->image.clone();

return img; }

try replacing "8UC1" with "8UC3"

I added the above code in VINS-Mono, and it ran successfully. However, when I looked at the original thermal image and the converted image, I found that the original image was elongated after being cropped. Is there a problem in the conversion process? Thanks again!