Expected image with MONO8 or BGR8 encoding

[clungzta]

Description: I am attempting to use Kimera ROS node with my ZED Mini Stereo Camera. However, the node does not support images of bgra8 format.

Console output:

F1230 20:35:42.739012  1157 RosDataProvider.cpp:111] Check failed: cv_ptr->encoding == sensor_msgs::image_encodings::MONO8 (bgra8 vs. mono8) Expected image with MONO8 or BGR8 encoding

Please give also the following information:

• SparkVio branch, tag or commit used: 6608e65e0be71a6ced3ddf53be8419dc4cbbdec0
• OpenCV version used: type opencv_version: 3.4.2
• Operating system and version (e.g. Ubuntu 16.04 or Windows 10): Ubuntu 18.04
• Did you change the source code? (yes / no): no

[ToniRV]

Should be easy to add support for bgra8. I'll try to add it, together with #27

[tftangming]

@clungzta Hello, Have you success to achieve the live meshing using your zed mini camera? Recently I bought a ZED2 and wang to use it...

[hanzheteng]

@ToniRV Have we added support for bgra8 yet? I run into the same issue using Zed camera.