diff --git a/image_proc/CMakeLists.txt b/image_proc/CMakeLists.txt
index e4dffcf33..756b737e1 100644
--- a/image_proc/CMakeLists.txt
+++ b/image_proc/CMakeLists.txt
@@ -18,7 +18,10 @@ find_package(rcutils REQUIRED)
 find_package(cv_bridge REQUIRED)
 find_package(image_transport REQUIRED)
 find_package(sensor_msgs REQUIRED)
-find_package(OpenCV 3 REQUIRED)
+find_package(OpenCV REQUIRED)
+if(OpenCV_VERSION VERSION_LESS "3.2.0")
+  message(FATAL "Minimum OpenCV version is 3.2.0 (found version ${OpenCV_VERSION})")
+endif()
 find_package(image_geometry REQUIRED)
 
 include_directories(
diff --git a/image_proc/src/crop_decimate.cpp b/image_proc/src/crop_decimate.cpp
index 68a6eb871..3e8261dac 100644
--- a/image_proc/src/crop_decimate.cpp
+++ b/image_proc/src/crop_decimate.cpp
@@ -46,11 +46,12 @@ void debayer2x2toBGR(
   int R, int G1, int G2, int B)
 {
   typedef cv::Vec<T, 3> DstPixel;  // 8- or 16-bit BGR
-  #if CV_MAJOR_VERSION >= 3 && CV_MINOR_VERSION > 2
+#if CV_VERSION_MAJOR >= 4
   dst.create(src.rows / 2, src.cols / 2, cv::traits::Type<DstPixel>::value);
-  #else
+#else
+  // Assume OpenCV 3 API
   dst.create(src.rows / 2, src.cols / 2, cv::DataType<DstPixel>::type);
-  #endif
+#endif
 
   int src_row_step = src.step1();
   int dst_row_step = dst.step1();
diff --git a/image_publisher/CMakeLists.txt b/image_publisher/CMakeLists.txt
index 439e7aa5c..045454414 100644
--- a/image_publisher/CMakeLists.txt
+++ b/image_publisher/CMakeLists.txt
@@ -29,15 +29,8 @@ set( DEPENDENCIES
   cv_bridge
 )
 
-set(opencv_2_components core highgui)
-set(opencv_3_components core imgcodecs videoio)
-find_package(OpenCV REQUIRED COMPONENTS core)
+find_package(OpenCV REQUIRED COMPONENTS core imgcodecs videoio)
 message(STATUS "opencv version ${OpenCV_VERSION}")
-if(OpenCV_VERSION VERSION_LESS "3.0.0")
-  find_package(OpenCV 2 REQUIRED COMPONENTS ${opencv_2_components})
-else()
-  find_package(OpenCV 3 REQUIRED COMPONENTS ${opencv_3_components})
-endif()
 
 include_directories(include)
 
diff --git a/image_view/CMakeLists.txt b/image_view/CMakeLists.txt
index a357a1ff1..315b288ca 100644
--- a/image_view/CMakeLists.txt
+++ b/image_view/CMakeLists.txt
@@ -33,10 +33,6 @@ if(ANDROID)
   return()
 endif()
 
-find_package(GTK2)
-add_definitions(-DHAVE_GTK)
-include_directories(${GTK2_INCLUDE_DIRS})
-
 add_library(image_view_nodes SHARED
   src/disparity_view_node.cpp
   src/extract_images_node.cpp
@@ -56,8 +52,6 @@ ament_target_dependencies(image_view_nodes
   stereo_msgs
 )
 target_link_libraries(image_view_nodes
-  ${GTK_LIBRARIES}
-  ${GTK2_LIBRARIES}
   ${OpenCV_LIBRARIES}
   ${Boost_LIBRARIES}
 )
diff --git a/image_view/package.xml b/image_view/package.xml
index 418513d4f..ead92c393 100644
--- a/image_view/package.xml
+++ b/image_view/package.xml
@@ -18,7 +18,6 @@
 
   <depend>camera_calibration_parsers</depend>
   <depend>cv_bridge</depend>
-  <depend>gtk2</depend>
   <depend>image_transport</depend>
   <depend>message_filters</depend>
   <depend>rclcpp</depend>