diff --git a/aslam_offline_calibration/kalibr/python/kalibr_common/ImageDatasetReader.py b/aslam_offline_calibration/kalibr/python/kalibr_common/ImageDatasetReader.py
index 9f807e098..b921e3ad1 100644
--- a/aslam_offline_calibration/kalibr/python/kalibr_common/ImageDatasetReader.py
+++ b/aslam_offline_calibration/kalibr/python/kalibr_common/ImageDatasetReader.py
@@ -123,6 +123,8 @@ def getImage(self,idx):
             
         else:
             img_data = np.array(self.CVB.imgmsg_to_cv2(data))
+            if "bayer_rggb8" in data.encoding:
+                img_data = cv2.cvtColor(img_data, cv2.cv.CV_BayerBG2BGR,3)
 
         if img_data.ndim == 3:
             img_data = cv2.cvtColor(img_data, cv2.COLOR_BGR2GRAY)