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SOLUTION: I found out, that I don't need the cv::imread() or cv::imdecode(), because the data are already stored in cv::Mat *bgr. So it's just needed to access there with:

image_transport::Publisher pubImage; cv::bridge::CvImage cv_bird_view(pointCloudMsg->header, "bgr8", *bgr); pubImage.publish(cv_bird_view.toImageMsg()); pubImage = it.advertise("out_bev_image",1);

SOLUTION: I found out, that I don't need the cv::imread() cv::imread() or cv::imdecode(), cv::imdecode(), because the data are already stored in cv::Mat *bgr. *bgr. So it's just needed to access there with:

image_transport::Publisher pubImage;
cv::bridge::CvImage cv_bird_view(pointCloudMsg->header, "bgr8", *bgr);
pubImage.publish(cv_bird_view.toImageMsg());
pubImage = it.advertise("out_bev_image",1);
it.advertise("out_bev_image",1);