diff --git a/CMakeLists.txt b/CMakeLists.txt
index 958c8a45..36515a47 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -55,6 +55,16 @@ ADD_DEFINITIONS(-DPROJECT_NAME="${PROJECT_NAME}")
 ####### DEPENDENCIES #######
 FIND_PACKAGE(OpenCV REQUIRED) # tested on 2.3.1
 
+# check if version status is "-dev" (SIFT compatibility issue between 4.3.0 vs 4.3.0-dev)
+FIND_FILE(OpenCV_VERSION_HPP opencv2/core/version.hpp
+  PATHS ${OpenCV_INCLUDE_DIRS}
+  NO_DEFAULT_PATH)
+FILE(READ ${OpenCV_VERSION_HPP} TMPTXT)
+STRING(FIND "${TMPTXT}" "-dev" matchres)
+IF(NOT ${matchres} EQUAL -1)
+  add_definitions(-DOPENCV_DEV)
+ENDIF(NOT ${matchres} EQUAL -1)
+
 # For SuperPoint
 SET(TORCH 0)
 FIND_PACKAGE(Torch QUIET)
@@ -289,21 +299,21 @@ IF(NOT CATKIN_BUILD)
      ENDIF()
    ELSE()
      IF(OPENCV_XFEATURES2D_FOUND)
-       MESSAGE(STATUS "  With OpenCV ${OpenCV_VERSION_MAJOR} xfeatures2d module (BRIEF/FREAK/KAZE) = YES")
+       MESSAGE(STATUS "  With OpenCV ${OpenCV_VERSION} xfeatures2d module (BRIEF/FREAK/KAZE) = YES")
      ELSE()
-       MESSAGE(STATUS "  With OpenCV ${OpenCV_VERSION_MAJOR} xfeatures2d module (BRIEF/FREAK/KAZE) = NO (not found)")
+       MESSAGE(STATUS "  With OpenCV ${OpenCV_VERSION} xfeatures2d module (BRIEF/FREAK/KAZE) = NO (not found)")
      ENDIF()
      IF(OpenCV_VERSION VERSION_GREATER "4.2.0")
        IF(NONFREE)
-         MESSAGE(STATUS "  With OpenCV ${OpenCV_VERSION_MAJOR} nonfree module (SURF) = YES")
+         MESSAGE(STATUS "  With OpenCV ${OpenCV_VERSION} nonfree module (SURF) = YES")
        ELSE()
-         MESSAGE(STATUS "  With OpenCV ${OpenCV_VERSION_MAJOR} nonfree module (SURF) = NO")
+         MESSAGE(STATUS "  With OpenCV ${OpenCV_VERSION} nonfree module (SURF) = NO")
        ENDIF()
      ELSEIF()
        IF(NONFREE)
-         MESSAGE(STATUS "  With OpenCV ${OpenCV_VERSION_MAJOR} nonfree module (SIFT/SURF) = YES")
+         MESSAGE(STATUS "  With OpenCV ${OpenCV_VERSION} nonfree module (SIFT/SURF) = YES")
        ELSE()
-         MESSAGE(STATUS "  With OpenCV ${OpenCV_VERSION_MAJOR} nonfree module (SIFT/SURF) = NO")
+         MESSAGE(STATUS "  With OpenCV ${OpenCV_VERSION} nonfree module (SIFT/SURF) = NO")
        ENDIF()
      ENDIF()
    ENDIF()
diff --git a/src/ParametersToolBox.cpp b/src/ParametersToolBox.cpp
index 248620ce..e3949210 100644
--- a/src/ParametersToolBox.cpp
+++ b/src/ParametersToolBox.cpp
@@ -346,7 +346,7 @@ void ParametersToolBox::addParameter(QVBoxLayout * layout,
 		if(key.compare(Settings::kFeature2D_1Detector()) == 0)
 		{
 #if FINDOBJECT_NONFREE == 0
-#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION < 3) // <4.3.0
+#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && (CV_MINOR_VERSION < 3 || (CV_MINOR_VERSION==3 && !defined(OPENCV_DEV))))
 			widget->setItemData(5, 0, Qt::UserRole - 1); // disable SIFT
 #endif
 			widget->setItemData(7, 0, Qt::UserRole - 1); // disable SURF
@@ -368,7 +368,7 @@ void ParametersToolBox::addParameter(QVBoxLayout * layout,
 		if(key.compare(Settings::kFeature2D_2Descriptor()) == 0)
 		{
 #if FINDOBJECT_NONFREE == 0
-#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION < 3) // <4.3.0
+#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && (CV_MINOR_VERSION < 3 || (CV_MINOR_VERSION==3 && !defined(OPENCV_DEV))))
 			widget->setItemData(2, 0, Qt::UserRole - 1); // disable SIFT
 #endif
 			widget->setItemData(3, 0, Qt::UserRole - 1); // disable SURF
diff --git a/src/Settings.cpp b/src/Settings.cpp
index 8af30c0c..e0d4568b 100644
--- a/src/Settings.cpp
+++ b/src/Settings.cpp
@@ -137,7 +137,7 @@ ParametersMap Settings::loadSettings(const QString & fileName)
 					int index = str.split(':').first().toInt();
 					if(key.compare(Settings::kFeature2D_1Detector()) == 0)
 					{
-#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION < 3)
+#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && (CV_MINOR_VERSION < 3 || (CV_MINOR_VERSION==3 && !defined(OPENCV_DEV))))
 #if FINDOBJECT_NONFREE == 0
 						if(index == 5 || index == 7)
 						{
@@ -171,7 +171,7 @@ ParametersMap Settings::loadSettings(const QString & fileName)
 					}
 					else if(key.compare(Settings::kFeature2D_2Descriptor()) == 0)
 					{
-#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION < 3)
+#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && (CV_MINOR_VERSION < 3 || (CV_MINOR_VERSION==3 && !defined(OPENCV_DEV))))
 #if FINDOBJECT_NONFREE == 0
 						if(index == 2 || index == 3)
 						{
@@ -711,7 +711,7 @@ Feature2D * Settings::createKeypointDetector()
 			{
 
                 //check for nonfree stuff
-#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION < 3)
+#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && (CV_MINOR_VERSION < 3 || (CV_MINOR_VERSION==3 && !defined(OPENCV_DEV))))
 #if FINDOBJECT_NONFREE == 0
 				if(strategies.at(index).compare("SIFT") == 0 ||
 				   strategies.at(index).compare("SURF") == 0)
@@ -997,7 +997,7 @@ Feature2D * Settings::createKeypointDetector()
 #endif
 					UDEBUG("type=%s", strategies.at(index).toStdString().c_str());
 				}
-#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION < 3) // <4.3.0
+#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && (CV_MINOR_VERSION < 3 || (CV_MINOR_VERSION==3 && !defined(OPENCV_DEV))))
 #if FINDOBJECT_NONFREE == 1
 				else if(strategies.at(index).compare("SIFT") == 0)
 				{
@@ -1052,7 +1052,7 @@ Feature2D * Settings::createKeypointDetector()
 					}
 				}
 #endif
-#else // >= 4.3.0
+#else // >= 4.3.0-dev
                 else if(strategies.at(index).compare("SIFT") == 0)
 				{
 					feature2D = new Feature2D(cv::SIFT::create(
@@ -1126,7 +1126,7 @@ Feature2D * Settings::createDescriptorExtractor()
 			{
 
                 //check for nonfree stuff
-#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION < 3)
+#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && (CV_MINOR_VERSION < 3 || (CV_MINOR_VERSION==3 && !defined(OPENCV_DEV))))
 #if FINDOBJECT_NONFREE == 0
 				if(strategies.at(index).compare("SIFT") == 0 ||
 				   strategies.at(index).compare("SURF") == 0)
@@ -1352,7 +1352,7 @@ Feature2D * Settings::createDescriptorExtractor()
 					UDEBUG("type=%s", strategies.at(index).toStdString().c_str());
 				}
 #endif
-#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION < 3) // <4.3.0
+#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && (CV_MINOR_VERSION < 3 || (CV_MINOR_VERSION==3 && !defined(OPENCV_DEV))))
 #if FINDOBJECT_NONFREE == 1
 				else if(strategies.at(index).compare("SIFT") == 0)
 				{
@@ -1407,7 +1407,7 @@ Feature2D * Settings::createDescriptorExtractor()
 					}
 				}
 #endif
-#else // >= 4.3.0
+#else // >= 4.3.0-dev
                 else if(strategies.at(index).compare("SIFT") == 0)
 				{
 					feature2D = new Feature2D(cv::SIFT::create(