diff --git a/corelib/src/CMakeLists.txt b/corelib/src/CMakeLists.txt
index f43d818b..5c46f432 100644
--- a/corelib/src/CMakeLists.txt
+++ b/corelib/src/CMakeLists.txt
@@ -820,10 +820,6 @@ ADD_CUSTOM_COMMAND(
 
 add_definitions(${PCL_DEFINITIONS})
 
-
-# Make sure the compiler can find include files from our library.
-INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
-
 # Add binary that is built from the source file "main.cpp".
 # The extension is automatically found.
 ADD_LIBRARY(rtabmap_core ${SRC_FILES} ${RESOURCES_HEADERS})
@@ -833,7 +829,7 @@ generate_export_header(rtabmap_core
  DEPRECATED_MACRO_NAME RTABMAP_DEPRECATED)
 
 target_include_directories(rtabmap_core PUBLIC 
-  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/../include;${CMAKE_CURRENT_BINARY_DIR}/include;${PUBLIC_INCLUDE_DIRS}>"
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/../include;${CMAKE_CURRENT_BINARY_DIR}/include;${PUBLIC_INCLUDE_DIRS};${INCLUDE_DIRS}>"
   "$<INSTALL_INTERFACE:${INSTALL_INCLUDE_DIR};${PUBLIC_INCLUDE_DIRS}>")
   
 TARGET_LINK_LIBRARIES(rtabmap_core 
diff --git a/corelib/src/camera/CameraStereoZed.cpp b/corelib/src/camera/CameraStereoZed.cpp
index 15416afa..f3dadb95 100644
--- a/corelib/src/camera/CameraStereoZed.cpp
+++ b/corelib/src/camera/CameraStereoZed.cpp
@@ -219,7 +219,7 @@ private:
         sl::ERROR_CODE res = zed_->getSensorsData(sensordata, sl::TIME_REFERENCE::CURRENT);
         if(res == sl::ERROR_CODE::SUCCESS && sensordata.imu.is_available)
         {
-        	camera_->postInterIMUPublic(zedIMUtoIMU(sensordata, imuLocalTransform_), double(sensordata.imu.timestamp)/10e9);
+        	camera_->postInterIMUPublic(zedIMUtoIMU(sensordata, imuLocalTransform_), double(sensordata.imu.timestamp.getNanoseconds())/10e8);
         }
 #endif
 	}
@@ -715,7 +715,7 @@ SensorData CameraStereoZed::captureImage(SensorCaptureInfo * info)
 			{
 				 sl::SensorsData imudatatmp;
 				res = zed_->getSensorsData(imudatatmp, sl::TIME_REFERENCE::IMAGE);
-				imuReceived = res == sl::ERROR_CODE::SUCCESS && imudatatmp.imu.is_available && imudatatmp.imu.timestamp.data_ns != 0;
+				imuReceived = res == sl::ERROR_CODE::SUCCESS && imudatatmp.imu.is_available && imudatatmp.imu.timestamp.getNanoseconds() != 0;
 			}
 		}
 		while(src_ == CameraVideo::kUsbDevice && (res!=sl::ERROR_CODE::SUCCESS || !imuReceived) && timer.elapsed() < 2.0);
@@ -749,8 +749,9 @@ SensorData CameraStereoZed::captureImage(SensorCaptureInfo * info)
 #if ZED_SDK_MAJOR_VERSION < 3
 				data = SensorData(left, depth, stereoModel_.left(), this->getNextSeqID(), UTimer::now());
 #else
-				data = SensorData(left, depth, stereoModel_.left(), this->getNextSeqID(), double(timestamp)/10e9);
+				data = SensorData(left, depth, stereoModel_.left(), this->getNextSeqID(), double(timestamp.getNanoseconds())/10e8);
 #endif
+				UWARN("data stamp = %f", data.stamp());
 			}
 			else
 			{
@@ -766,7 +767,7 @@ SensorData CameraStereoZed::captureImage(SensorCaptureInfo * info)
 #if ZED_SDK_MAJOR_VERSION < 3
 				data = SensorData(left, right, stereoModel_, this->getNextSeqID(), UTimer::now());
 #else
-				data = SensorData(left, right, stereoModel_, this->getNextSeqID(), double(timestamp)/10e9);
+				data = SensorData(left, right, stereoModel_, this->getNextSeqID(), double(timestamp.getNanoseconds())/10e8);
 #endif
 			}
 
diff --git a/guilib/src/CalibrationDialog.cpp b/guilib/src/CalibrationDialog.cpp
index 07002c03..dd4a0523 100644
--- a/guilib/src/CalibrationDialog.cpp
+++ b/guilib/src/CalibrationDialog.cpp
@@ -161,8 +161,10 @@ CalibrationDialog::CalibrationDialog(bool stereo, const QString & savingDirector
 #ifndef HAVE_CHARUCO
 	ui_->comboBox_board_type->setItemData(1, 0, Qt::UserRole - 1);
 	ui_->comboBox_board_type->setItemData(2, 0, Qt::UserRole - 1);
-#elif CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION < 7)
+#elif CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION < 6)
 	ui_->comboBox_board_type->setItemData(2, 0, Qt::UserRole - 1);
+#elif CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION < 8
+	ui_->comboBox_board_type->setItemData(1, 0, Qt::UserRole - 1);
 #endif
 }
 
@@ -1289,7 +1291,9 @@ void CalibrationDialog::restart()
 			ui_->doubleSpinBox_squareSize->value(), 
 			ui_->doubleSpinBox_markerLength->value(), 
 			*markerDictionary_));
+#if CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION >= 8)
 		charucoBoard_->setLegacyPattern(ui_->comboBox_board_type->currentIndex()==1);
+#endif
 		arucoDetector_.reset(new cv::aruco::ArucoDetector(*markerDictionary_, *arucoDetectorParams_));
 		charucoDetector_.reset(new cv::aruco::CharucoDetector(*charucoBoard_, cv::aruco::CharucoParameters(), *arucoDetectorParams_));
 #else