code: def _process_image_msg(self, msg):
          
          encoding = msg.encoding
          try:
              image = self._bridge.imgmsg_to_cv2(msg, encoding)
          except CvBridgeError as e:
              rospy.logerr(e)
          return image
docs: Process an image message and return a numpy array with the image data
          Returns
          -------
          :obj:`numpy.ndarray` containing the image in the image message
  
          Raises
          ------
          CvBridgeError
              If the bridge is not able to convert the image