ROS图像与OpenCV图像格式转换（C++）

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

二、使用cv_bridge遇到的问题
1、头文件

#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、节点CMakeLists文件

find_package(catkin REQUIRED COMPONENTS
  pcl_conversions
  pcl_ros
  roscpp
  sensor_msgs
  cv_bridge //也可单独添加
)

3、节点package.xml文件

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

注：此处如果没有设置，单独编译不报错，与OpenCV一起编译，会出现找不到符号的错误。