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Yes. There is even a package, cv_bridge that converts between sensor_msgs/Image and cv::Mat.
The auto-generated API documentation is quite excellent for the C++ API. In general, I think the C++ API has less of a learning curve than the C API.
Most (if not all) of the C++ functions are wrapped. However, I ran into quite a few functions In OpenCV 2.2 and 2.3 that were completely broken. It's possible that things have improved in OpenCV 2.4.

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