一、ROS官網Converting between ROS images and OpenCV images (C++)

二、使用cv_bridge遇到的問題
1、標頭檔案

#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <image_transport/image_transport.h>
#include <cv_bridge/cv_bridge.h> 
#include <sensor_msgs/image_encodings.h>
 

2、節點CMakeLists檔案

find_package(catkin REQUIRED COMPONENTS
  pcl_conversions
  pcl_ros
  roscpp
  sensor_msgs
  cv_bridge //也可單獨新增
)

3、節點package.xml檔案

  <build_depend>cv_bridge</build_depend>
  <exec_depend>cv_bridge</exec_depend>

注：此處如果沒有設定，單獨編譯不報錯，與OpenCV一起編譯，會出現找不到符號的錯誤。