不管是vins-fusion还是ORBSLAM3，如果接收到的是rgb图像，也是先转为灰度图再进行处理的

不管是vins-fusion还是ORBSLAM3，如果接收到的是rgb图像，也是先转为灰度图再进行处理的

ORBSLAM3是会把图像转为灰度图去处理的
https://www.cnblogs.com/yiqian/p/14899026.html

cvtColor(mImGray,mImGray,cv::COLOR_RGB2GRAY);

/ORB_SLAM3/src/Tracking.cc

cv::Mat Tracking::GrabImageMonocular(const cv::Mat &im, const double &timestamp, string filename)
{
    mImGray = im;

    if(mImGray.channels()==3)
    {
        if(mbRGB)
            cvtColor(mImGray,mImGray,cv::COLOR_RGB2GRAY);
        else
            cvtColor(mImGray,mImGray,cv::COLOR_BGR2GRAY);
    }
    else if(mImGray.channels()==4)
    {
        if(mbRGB)
            cvtColor(mImGray,mImGray,cv::COLOR_RGBA2GRAY);
        else
            cvtColor(mImGray,mImGray,cv::COLOR_BGRA2GRAY);
    }

    if (mSensor == System::MONOCULAR)
    {
        if(mState==NOT_INITIALIZED || mState==NO_IMAGES_YET ||(lastID - initID) < mMaxFrames)
            mCurrentFrame = Frame(mImGray,timestamp,mpIniORBextractor,mpORBVocabulary,mpCamera,mDistCoef,mbf,mThDepth);
        else
            mCurrentFrame = Frame(mImGray,timestamp,mpORBextractorLeft,mpORBVocabulary,mpCamera,mDistCoef,mbf,mThDepth);
    }
    else if(mSensor == System::IMU_MONOCULAR)
    {
        if(mState==NOT_INITIALIZED || mState==NO_IMAGES_YET)
        {
            mCurrentFrame = Frame(mImGray,timestamp,mpIniORBextractor,mpORBVocabulary,mpCamera,mDistCoef,mbf,mThDepth,&mLastFrame,*mpImuCalib);
        }
        else
            mCurrentFrame = Frame(mImGray,timestamp,mpORBextractorLeft,mpORBVocabulary,mpCamera,mDistCoef,mbf,mThDepth,&mLastFrame,*mpImuCalib);
    }

    if (mState==NO_IMAGES_YET)
        t0=timestamp;

    mCurrentFrame.mNameFile = filename;
    mCurrentFrame.mnDataset = mnNumDataset;

#ifdef REGISTER_TIMES
    vdORBExtract_ms.push_back(mCurrentFrame.mTimeORB_Ext);
#endif

    lastID = mCurrentFrame.mnId;
    Track();

    return mCurrentFrame.mTcw.clone();
}

vins-fusion如果收到rgb图也是转为灰度图再处理的
vins_estimator/src/rosNodeTest.cpp · 马熙/VINS-Fusion - Gitee.com

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;
}