ros2 run orbslam3 mono ~/Documents/SLAM/ORB_SLAM3/Vocabulary/ORBvoc.txt ~/Documents/SLAM/ORB_SLAM3/Examples/Monocular/RealSense_D435i.yaml
显示画面是黑的，而且会闪退。
报错信息：ERROR: Frame with a timestamp older than previous frame detected!
Creation of new map with id: 1
Stored map with ID: 0
Creation of new map with last KF id: 0
SYSTEM-> Reseting active map in monocular case
terminate called after throwing an instance of 'cv::Exception'
what(): OpenCV(4.2.0) ../modules/imgproc/src/color.simd_helpers.hpp:92: error: (-2:Unspecified error) in function 'cv::impl::{anonymous}::CvtHelper<VScn, VDcn, VDepth, sizePolicy>::CvtHelper(cv::InputArray, cv::OutputArray, int) [with VScn = cv::impl::{anonymous}::Set<1>; VDcn = cv::impl::{anonymous}::Set<3, 4>; VDepth = cv::impl::{anonymous}::Set<0, 2, 5>; cv::impl::{anonymous}::SizePolicy sizePolicy = cv::impl::<unnamed>::NONE; cv::InputArray = const cv::_InputArray&; cv::OutputArray = const cv::_OutputArray&]'
Invalid number of channels in input image:
'VScn::contains(scn)'
where
'scn' is 2
是为什么啊