How do I use my own datasets?

[yuhuabing]

When I use my own datasets,the terminal appears following error:
[ERROR] [1575476563.620017963]: cv_bridge exception: [8UC1] is not a color format. but [mono8] is. The conversion does not make sense.
I don't know how to solve it,could you help me,thank you!

[goldbattle]

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.

[NikolausDemmel]

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.

[yuhuabing]

@goldbattle ,I just replace all "mono8" in source code with "TYPE_8UC1",it can work but always drift.

[goldbattle]

It is an odometry method, so there will be drift over time. SLAM features can help reduce this, please see the example launch files for the euroc mav. https://docs.openvins.com/gs-datasets.html You can also post an example bag and your launch file and I can see if there are any issues.

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On Wed, Dec 4, 2019 at 9:35 PM yuhuabing ***@***.***> wrote: @goldbattle <https://github.com/goldbattle> ,I just replace all "mono8" in source code with "TYPE_8UC1",it can work but always drift. — You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub <#26?email_source=notifications&email_token=AAQ6TYUOCMYHTPJ2YO76KNLQXBSHJA5CNFSM4JVFAV4KYY3PNVWWK3TUL52HS4DFVREXG43VMVBW63LNMVXHJKTDN5WW2ZLOORPWSZGOEF7IKRA#issuecomment-561939780>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AAQ6TYWQ5TDCJNOEUALFMO3QXBSHJANCNFSM4JVFAV4A> .

[yuhuabing]

@goldbattle could github upload bag file?After my modification,the system always fail to initialization.

[goldbattle]

No, you would need to upload to Google drive or some other cloud service.

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On Thu, Dec 5, 2019, 10:03 AM yuhuabing ***@***.***> wrote: @goldbattle <https://github.com/goldbattle> could github upload bag file?After my modification,the system always fail to initialization. — You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub <#26?email_source=notifications&email_token=AAQ6TYRD3BCM2AWNBJ3ODATQXEJ55A5CNFSM4JVFAV4KYY3PNVWWK3TUL52HS4DFVREXG43VMVBW63LNMVXHJKTDN5WW2ZLOORPWSZGOEGBACFY#issuecomment-562168087>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AAQ6TYUFGZX5EQ5PZIVHOALQXEJ55ANCNFSM4JVFAV4A> .

[goldbattle]

Please reopen if you wish to troubleshoot any further, thanks!