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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。