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Use mono8 encoding when publishing infra camera images #106

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Use mono8 encoding when publishing infra camera images #106

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4 changes: 2 additions & 2 deletions realsense_ros/include/realsense/rs_constants.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -81,8 +81,8 @@ namespace realsense

const std::map<rs2_stream, std::string> MSG_ENCODING = {{RS2_STREAM_COLOR, sensor_msgs::image_encodings::RGB8},
{RS2_STREAM_DEPTH, sensor_msgs::image_encodings::TYPE_16UC1},
{RS2_STREAM_INFRARED, sensor_msgs::image_encodings::TYPE_8UC1},
{RS2_STREAM_FISHEYE, sensor_msgs::image_encodings::TYPE_8UC1}};
{RS2_STREAM_INFRARED, sensor_msgs::image_encodings::MONO8},
{RS2_STREAM_FISHEYE, sensor_msgs::image_encodings::MONO8}};

const std::map<rs2_stream, rs2_format> STREAM_FORMAT = {{RS2_STREAM_COLOR, RS2_FORMAT_RGB8},
{RS2_STREAM_DEPTH, RS2_FORMAT_Z16},
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