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I did a google search for your question title, and the first two results look like good tutorials:

I'm going to close this as off-topic because it seems more like an OpenCV question than a ROS question.

If you have a ROS-related image processing question, please ask a new question describing what you're trying to do, anything you've already tried, and if you're following a tutorial, a link to the tutorial.

If you're trying to solve a program or compile error, please paste the source code and the error message into your question.