diff --git a/CMakeLists.txt b/CMakeLists.txt
index 88f8ac358f..d253306595 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -221,7 +221,7 @@ ENDIF()
 set(RTABMAP_QT_VERSION AUTO CACHE STRING "Force a specific Qt version.")
 set_property(CACHE RTABMAP_QT_VERSION PROPERTY STRINGS AUTO 4 5)
 
-FIND_PACKAGE(OpenCV REQUIRED QUIET)
+FIND_PACKAGE(OpenCV REQUIRED QUIET COMPONENTS core calib3d imgproc highgui stitching optflow photo OPTIONAL_COMPONENTS aruco xfeatures2d nonfree gpu cudafeatures2d)
 
 IF(WITH_QT)
 FIND_PACKAGE(PCL 1.7 REQUIRED QUIET COMPONENTS common io kdtree search surface filters registration sample_consensus segmentation visualization)
diff --git a/corelib/src/optimizer/OptimizerGTSAM.cpp b/corelib/src/optimizer/OptimizerGTSAM.cpp
index 2e6da3949b..153195d6f1 100644
--- a/corelib/src/optimizer/OptimizerGTSAM.cpp
+++ b/corelib/src/optimizer/OptimizerGTSAM.cpp
@@ -55,10 +55,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "gtsam/GPSPose3XYZFactor.h"
 
 #ifdef RTABMAP_VERTIGO
-#include "vertigo/gtsam/betweenFactorMaxMix.h"
 #include "vertigo/gtsam/betweenFactorSwitchable.h"
 #include "vertigo/gtsam/switchVariableLinear.h"
-#include "vertigo/gtsam/switchVariableSigmoid.h"
 #endif
 #endif // end RTABMAP_GTSAM