diff --git a/camera_model/include/camodocal/calib/CameraCalibration.h b/camera_model/include/camodocal/calib/CameraCalibration.h
index ac80f690b..a8bc956e9 100644
--- a/camera_model/include/camodocal/calib/CameraCalibration.h
+++ b/camera_model/include/camodocal/calib/CameraCalibration.h
@@ -2,6 +2,9 @@
 #define CAMERACALIBRATION_H
 
 #include <opencv2/core/core.hpp>
+#include <opencv2/imgcodecs/legacy/constants_c.h>
+#include <opencv2/imgproc/types_c.h>
+#include <opencv2/imgproc/imgproc_c.h>
 
 #include "camodocal/camera_models/Camera.h"
 
diff --git a/camera_model/include/camodocal/camera_models/Camera.h b/camera_model/include/camodocal/camera_models/Camera.h
index be8b6218d..b8808c10f 100644
--- a/camera_model/include/camodocal/camera_models/Camera.h
+++ b/camera_model/include/camodocal/camera_models/Camera.h
@@ -4,6 +4,9 @@
 #include <boost/shared_ptr.hpp>
 #include <eigen3/Eigen/Dense>
 #include <opencv2/core/core.hpp>
+#include <opencv2/imgcodecs/legacy/constants_c.h>
+#include <opencv2/imgproc/types_c.h>
+#include <opencv2/imgproc/imgproc_c.h>
 #include <vector>
 
 namespace camodocal
diff --git a/camera_model/include/camodocal/chessboard/Chessboard.h b/camera_model/include/camodocal/chessboard/Chessboard.h
index fb421988a..6b4abb619 100644
--- a/camera_model/include/camodocal/chessboard/Chessboard.h
+++ b/camera_model/include/camodocal/chessboard/Chessboard.h
@@ -3,6 +3,10 @@
 
 #include <boost/shared_ptr.hpp>
 #include <opencv2/core/core.hpp>
+#include <opencv2/imgcodecs/legacy/constants_c.h>
+#include <opencv2/imgproc/types_c.h>
+#include <opencv2/imgproc/imgproc_c.h>
+#include <opencv2/calib3d/calib3d_c.h>
 
 namespace camodocal
 {
diff --git a/pose_graph/src/ThirdParty/DVision/BRIEF.h b/pose_graph/src/ThirdParty/DVision/BRIEF.h
index 78d9fbfa2..4e7771d37 100644
--- a/pose_graph/src/ThirdParty/DVision/BRIEF.h
+++ b/pose_graph/src/ThirdParty/DVision/BRIEF.h
@@ -30,6 +30,7 @@
 #define __D_BRIEF__
 
 #include <opencv2/opencv.hpp>
+#include <opencv2/imgproc/imgproc_c.h>
 #include <vector>
 #include <boost/dynamic_bitset.hpp>