diff --git a/aruco_pose/CMakeLists.txt b/aruco_pose/CMakeLists.txt
index 70e9aa3d..ba9d65a9 100644
--- a/aruco_pose/CMakeLists.txt
+++ b/aruco_pose/CMakeLists.txt
@@ -24,7 +24,7 @@ find_package(catkin REQUIRED COMPONENTS
 
 # Workaround for OpenCV 3/4 support
 set(_opencv_version 4)
-find_package(OpenCV ${_opencv_version} QUIET)
+find_package(OpenCV ${_opencv_version} QUIET COMPONENTS core imgproc calib3d)
 if (NOT OpenCV_FOUND)
   message(STATUS "Did not find OpenCV 4, searching for OpenCV 3")
   set(_opencv_version 3)
diff --git a/clover/CMakeLists.txt b/clover/CMakeLists.txt
index fe1ba091..5cde1ffb 100644
--- a/clover/CMakeLists.txt
+++ b/clover/CMakeLists.txt
@@ -32,7 +32,7 @@ find_package(GeographicLib REQUIRED)
 
 # Workaround for OpenCV 3/4 support
 set(_opencv_version 4)
-find_package(OpenCV ${_opencv_version} QUIET)
+find_package(OpenCV ${_opencv_version} QUIET COMPONENTS calib3d imgproc)
 if (NOT OpenCV_FOUND)
   message(STATUS "Did not find OpenCV 4, searching for OpenCV 3")
   set(_opencv_version 3)