diff --git a/cv_bridge/CMakeLists.txt b/cv_bridge/CMakeLists.txt
index 997bef3e1..c203aad1f 100644
--- a/cv_bridge/CMakeLists.txt
+++ b/cv_bridge/CMakeLists.txt
@@ -13,7 +13,7 @@ if(NOT ANDROID)
 else()
 find_package(Boost REQUIRED)
 endif()
-find_package(OpenCV 3 REQUIRED
+find_package(OpenCV REQUIRED
   COMPONENTS
     opencv_core
     opencv_imgproc
diff --git a/cv_bridge/src/CMakeLists.txt b/cv_bridge/src/CMakeLists.txt
index 37ba30eea..6d91003bf 100644
--- a/cv_bridge/src/CMakeLists.txt
+++ b/cv_bridge/src/CMakeLists.txt
@@ -32,10 +32,12 @@ if (PYTHON_VERSION_MAJOR VERSION_EQUAL 3)
   add_definitions(-DPYTHON3)
 endif()
 
-if (OpenCV_VERSION_MAJOR VERSION_EQUAL 3)
-add_library(${PROJECT_NAME}_boost module.cpp module_opencv3.cpp)
+if (OpenCV_VERSION_MAJOR VERSION_EQUAL 4)
+  add_library(${PROJECT_NAME}_boost module.cpp module_opencv4.cpp)
+elseif(OpenCV_VERSION_MAJOR VERSION_EQUAL 3)
+  add_library(${PROJECT_NAME}_boost module.cpp module_opencv3.cpp)
 else()
-add_library(${PROJECT_NAME}_boost module.cpp module_opencv2.cpp)
+  add_library(${PROJECT_NAME}_boost module.cpp module_opencv2.cpp)
 endif()
 target_link_libraries(${PROJECT_NAME}_boost ${Boost_LIBRARIES}
                                             ${catkin_LIBRARIES}