Fix visible/color frame conversion

It's RGB8, not MONO8.

It's also possible to do a shallow copy instead of a deep copy, so the
conversion is faster.

Author: efernandez

src/sc.cpp

@@ -198,25 +198,14 @@ struct SessionDelegate : ST::CaptureSessionDelegate {
 			return;
 		}
 
-		cv::Mat img(visFrame.height(), visFrame.width(), CV_8UC1);
-
-		const uint8_t* buf = visFrame.rgbData();
-
-		for(int y = 0; y < visFrame.height(); y++)
-		{
-			for(int x = 0; x < visFrame.width(); x++)
-			{
-				std::size_t pixelOffset = (y * visFrame.width()) + x;
-				img.at<uchar>(y, x) = buf[pixelOffset];
-			}
-		}
+		cv::Mat img(visFrame.height(), visFrame.width(), CV_8UC3, static_cast<void*>(const_cast<uint8_t*>(visFrame.rgbData())));
 
 		std_msgs::Header header;
 		header.frame_id = frame_id_;
 		// TODO: convert timstamp to ROS time
 		// header.stamp =  infraredFrame.timestamp();
 
-		sensor_msgs::ImagePtr msg = cv_bridge::CvImage(header, "mono8", img).toImageMsg();
+		sensor_msgs::ImagePtr msg = cv_bridge::CvImage(header, "rgb8", img).toImageMsg();
 		vis_pub_.publish(msg);
 
 		sensor_msgs::CameraInfo cam_info;