ROS 报错AttributeError: ‘Image‘ object has no attribute ‘encoding_to_dtype_with_channels‘

报错

AttributeError: ‘Image’ object has no attribute ‘encoding_to_dtype_with_channels’

发生位置

  def get_d435i_data_callback(self, future):
        response:RgbdData.Response = future.result()
        self.__rgb = CvBridge.imgmsg_to_cv2(response.rgb,"bgr8")
        self.__depth = CvBridge.imgmsg_to_cv2(response.depth,"mono16")

发生在

 self.__rgb = CvBridge.imgmsg_to_cv2(response.rgb,"bgr8")

错误原因

写法错误
需要在类中实例化 CvBridge()作为成员变量

self.bridge = CvBridge()

然后调用这个成员变量，正确写法如下

  def get_d435i_data_callback(self, future):
        response:RgbdData.Response = future.result()
        self.__rgb = self.bridge.imgmsg_to_cv2(response.rgb,"bgr8")
        self.__depth = self.bridge.imgmsg_to_cv2(response.depth,"mono16")

通过！

参考连接

译：ROS和Openv之间的图像转换（Python）