ros opencv error cv_bridge exception

 cv_bridge exception: [8UC3] and [32FC1] do not have the same number of channel 

 cv_bridge exception: [8UC3] and [32FC1] do not have the same number of channel

 

cv_bridge exception: [mono8] is a color format but [8UC3] is not so they must have the same OpenCV type, CV_8UC3, CV16UC1 ....
 

今天碰到这个错误。

    cv_bridge::CvImagePtr cv_ptr;
    cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::MONO8);

我的image callback：

  void imageCb(const sensor_msgs::ImageConstPtr& msg)
  {
    cv_bridge::CvImagePtr cv_ptr;
    printf("imag ge%d\n",__LINE__);                                               
    try
    {
      cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::TYPE_8UC1);   
    printf("imag ge%d\n",__LINE__);                //convert ROS image to CV image and make copy of it storing in cv_ptr(a pointer)
    }
    catch (cv_bridge::Exception& e)
    {
      ROS_ERROR("cv_bridge exception: %s", e.what());
      return;
    }
}

 出现此类错误，是由于从ROS 图像转换为opencv可用的图像时，图像编码不一致导致。

改为

sensor_msgs::image_encodings::TYPE_8UC3

后，代码正常。