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It seems that it is a little complicated to process images with ROS and opencv. I'm a green hand on this field. But as for myself, I used to process image with the help of a third party image processing SDK. It is just one of many but I do appreciate its simple way of processing. Even though I only tried its free trial package and didn′t check the cost and licensing conditions, it works great for me. Share with you. I hope you success.

Best regards, Arron