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You should install opencv by yourself on your computer, the easiest way is to clone this to your computer https://github.com/jayrambhia/Install-OpenCV

git clone https://github.com/jayrambhia/Install-OpenCV.git

Then run the ubuntu/opencv_install.sh

Now in your ros package:

In the manifest.xml add this line

<rosdep name="opencv2"/>

you also need to include these lines in your CMakeFiles.txt

find_package(OpenCV REQUIRED)
include_directories(${OpenCV_INCLUDE_DIRS})

and

target_link_libraries(your_cpp_node ${OpenCV_LIBS})

for linking the libraries to the nodes written in c++.