From 317f0ed53fb6efbeff08a1798a02d24bb565f699 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Tue, 16 Jun 2015 19:33:27 -0400
Subject: [PATCH] fixed point_cloud_xyzrgb nodelet conversion of TYPE_8UC1

---
 src/nodelets/point_cloud_xyzrgb.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/nodelets/point_cloud_xyzrgb.cpp b/src/nodelets/point_cloud_xyzrgb.cpp
index 985665b2..48517ca8 100644
--- a/src/nodelets/point_cloud_xyzrgb.cpp
+++ b/src/nodelets/point_cloud_xyzrgb.cpp
@@ -171,7 +171,7 @@ private:
 
 		if(cloudPub_.getNumSubscribers())
 		{
-			cv_bridge::CvImageConstPtr imagePtr = cv_bridge::toCvShare(image, "bgr8");
+			cv_bridge::CvImageConstPtr imagePtr = cv_bridge::toCvShare(image, image->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1)==0?"":"mono8");
 			cv_bridge::CvImageConstPtr imageDepthPtr = cv_bridge::toCvShare(imageDepth);
 
 			image_geometry::PinholeCameraModel model;