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Normally OpenCV programs should run on Linux systems, even on startup.

If you aren't using any graphical elements (like imshow), it should work without X server, too.

I think, it's a good idea to launch the program as a user process, not as a (systemd or init.d) service. Don't use sudo, as it's not intended to run your programs.

If you want to launch it without X server, put a line at the end of the .profile file:

Documents/Project/opencv_program

Otherwise the easiest solution is to add it to the Startup programs (you'll find it in Settings).

If you want to autostart the program at boot, just enable autologin.

Note that it's a good idea to add the OpenCV lib folder to a file in the /etc/ld.so.conf/ folder (and run ldconfig), so you don't have to export the library path every time