Fix [16UC1] is not a color format. but [mono8] is. The conversion does not make sense

fix_depth_image_exception.md

How to fix xtion's image format conversion

We may get:

cv_bridge exception: [16UC1] is not a color format. but [mono8] is. The conversion does not make sense

In C++ a workaround:

const sensor_msgs::ImageConstPtr & msg
					if (msg->encoding == "16UC1"){
						sensor_msgs::Image img;
						img.header = msg->header;
						img.height = msg->height;
						img.width = msg->width;
						img.is_bigendian = msg->is_bigendian;
						img.step = msg->step;
						img.data = msg->data;
						img.encoding = "mono16";

						cv_ptr = cv_bridge::toCvCopy(img, enc::MONO8);
					}

In Python

Being data the Image message from a subscription callback...

bridge = CvBridge()
data.encoding = "mono16"
cvImage = bridge.imgmsg_to_cv2(data, "mono8")

The problem is that the information will be lost in this way. For me, I have thought of this method myself, but the loss of information makes me think this is not a good method.So I'm looking for other ways