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In addition to what @William posted, some other comments:

• perhaps it wasn't copy/pasted, but I don't see an include_directories(include ${OpenCV_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS}) anywhere, which could also be responsible for the not declared error.
• you only need to find_package(OpenCV) once, the results get cached. Also, I'd add a REQUIRED to that, as your code can't compile without OpenCV being available.
• you can link your my_publisher target to multiple (sets of) libraries with a single target_link_libraries(..) invocation. Just do: target_link_libraries(my_publisher ${OpenCV_LIBS} ${catkin_LIBRARIES}).
• is image_transport_tutorial_cpp (from add_dependencies(my_subscriber image_transport_tutorial_cpp)) an actual target from image_transport? Perhaps you meant image_transport_tutorial_gencpp (which is deprecated, afaik)?

Minor things, but they make your CMakeLists.txt a bit easier to read and maintain.

In addition to what @William posted, some other comments:

• perhaps it wasn't copy/pasted, but I don't see an an

  include_directories(include ${OpenCV_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})${catkin_INCLUDE_DIRS})
   

  anywhere, which could also be responsible for the not declared error.

• you only need to find_package(OpenCV) once, the results get cached. Also, I'd add a REQUIRED to that, as your code can't compile without OpenCV being available.

• you can link your my_publisher target to multiple (sets of) libraries with a single target_link_libraries(..) invocation. Just do: do:

  target_link_libraries(my_publisher ${OpenCV_LIBS} ${catkin_LIBRARIES})${catkin_LIBRARIES})
  .

• is image_transport_tutorial_cpp (from add_dependencies(my_subscriber image_transport_tutorial_cpp)..)) an actual target from image_transport? Perhaps you meant image_transport_tutorial_gencpp (which is deprecated, afaik)?

Minor things, but they make your CMakeLists.txt a bit easier to read and maintain.

In addition to what @William posted, some other comments:

• perhaps it wasn't copy/pasted, but I don't see an

  include_directories(include ${OpenCV_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
  

  anywhere, which could also be responsible for the not declared error.

• you only need to find_package(OpenCV) once, the results get cached. Also, I'd add a REQUIRED to that, as your code can't compile without OpenCV being available.

• you can link your my_publisher target targets to multiple (sets of) libraries with a single target_link_libraries(..) invocation. Just do:

  target_link_libraries(my_publisher ${OpenCV_LIBS} ${catkin_LIBRARIES})
  

  for the my_publisher target fi.

• is image_transport_tutorial_cpp (from add_dependencies(my_subscriber ..)) an actual target from image_transport? Perhaps you meant image_transport_tutorial_gencpp (which is deprecated, afaik)?

Minor things, but they make your CMakeLists.txt a bit easier to read and maintain.