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To my understanding, I think there is a confusion in your stereo camera's driver. Mono8 is a color encoding, which contains one 8-bit monochromatic channel. TYPE_16UC1 in depth_image_proc is a type of unsigned 16-bit depth channel. So basically, these are 2 different things.

IMO, your proposal to convert from Mono8 to TYPE_8UC1/TYPE_16UC1 doesn't really make sense. My suggestion is that you change your camera's driver to output correct encoding.

AFAIK, TYPE_16UC1 in depth_image_proc gives you values in millimeter unit, while TYPE_32UC1 returns meter unit.

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