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My ROS distro is Noetic, would that version of OpenCV work here?

There is only a one version for which Noetic binary packages are built on Ubuntu Focal (20.04): that would be version 4.2.

Refer to REP 3 - Target Platforms: Noetic Ninjemys (May 2020 - May 2025) for information on which specific versions of the various dependencies are supported.

My ROS distro is Noetic, would that version of OpenCV work here?

There is only a one version for which Noetic binary packages are built on Ubuntu Focal (20.04): that would be version 4.2.

Refer to REP 3 - Target Platforms: Noetic Ninjemys (May 2020 - May 2025) for information on which specific versions of the various dependencies are supported.

Technically vision_opencv should support the range of versions listed in the row for OpenCV (so 3.2 and 4.2).