TypeError: Your input type is not a numpy array

edit

#!/usr/bin/env python import cv2 import os import numpy as np import rospy from std_msgs.msg import Header from sensor_msgs.msg import Image, PointCloud2 import sensor_msgs.point_cloud2 as pcl2 from cv_bridge import CvBridge

DATA_PATH = '/home/skzeng/catkin_kitti/src/kitti2/data/kitti/RawDate/2011_09_26/2011_09_26_drive_0005_sync/'

if __name__ == "__main__": frame = 0 rospy.init_node('kitti_node',anonymous=True) cam_pub = rospy.Publisher('kitti_cam', Image, queue_size=10) pcl_pub = rospy.Publisher('kitti_point_cloud', PointCloud2, queue_size=10) bridge = CvBridge()

rate = rospy.Rate(10)

while not rospy.is_shutdown():
    img = cv2.imread(os.path.join(DATA_PATH, 'image_02/data/%010d.png'%frame))
    cam_pub.publish(bridge.cv2_to_imgmsg(img,"bgr8"))

    point_cloud = np.fromfile(os.path.join(DATA_PATH, 'velodyne_points/data/%010d.bin'%frame),dtype=np.float32).reshape(-1,4)
    header = Header()
    header.stamp = rospy.Time.now()
    header.frame_id = 'map'
    pcl_pub.publish(pcl2.create_cloud_xyz32(header, point_cloud[:,:3]))
    rospy.loginfo("camera image published")
    rate.sleep()
    frame += 1
    frame %= 154