diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2df667fa..5e0a184d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1347,6 +1347,9 @@ ELSE()
 ENDIF()
 STRING(REPLACE ";" " " CONF_OPENCV_COMPONENTS "${CONF_OPENCV_COMPONENTS}")
 STRING(REPLACE ";" " " CONF_OPENCV_OPTIONAL_COMPONENTS "${CONF_OPENCV_OPTIONAL_COMPONENTS}")
+# Pin the OpenCV major version so downstream projects find the same major RTAB-Map was
+# built against
+SET(CONF_OPENCV_VERSION_MAJOR ${OpenCV_VERSION_MAJOR})
 include(CMakePackageConfigHelpers)
 write_basic_package_version_file(
   "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake"
diff --git a/RTABMapConfig.cmake.in b/RTABMapConfig.cmake.in
index 1a3d03cc..713359b4 100644
--- a/RTABMapConfig.cmake.in
+++ b/RTABMapConfig.cmake.in
@@ -1,7 +1,7 @@
 include(CMakeFindDependencyMacro)
 
 # Mandatory dependencies
-find_dependency(OpenCV COMPONENTS @CONF_OPENCV_COMPONENTS@ OPTIONAL_COMPONENTS @CONF_OPENCV_OPTIONAL_COMPONENTS@)
+find_dependency(OpenCV @CONF_OPENCV_VERSION_MAJOR@ COMPONENTS @CONF_OPENCV_COMPONENTS@ OPTIONAL_COMPONENTS @CONF_OPENCV_OPTIONAL_COMPONENTS@)
 
 if(EXISTS "${CMAKE_CURRENT_LIST_DIR}/RTABMap_guiTargets.cmake")
     find_dependency(PCL 1.7 COMPONENTS common io kdtree search surface filters registration sample_consensus segmentation visualization)