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Use sensor_msgs::image_encodings::TYPE_64FC3. In the OpenCV naming scheme, this is 64-bit floating point (64F, aka double) with 3 channels (C3).

The full list of encodings is defined in sensor_msgs/image_encodings.h and viewable here. We define some named encodings (like RGB8) that specify the color semantics as well as data type and number of channels. The TYPE_* encodings support arbitrary data.

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