diff --git a/CMakeLists.txt b/CMakeLists.txt
index d0bba57..31dd080 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -25,7 +25,8 @@ include(DistVersion.cmake)
 system_info(DISTRO)
 message(STATUS "DISTRO: ${DISTRO}")
 
-set(CMAKE_CXX_STANDARD 11)
+# set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_STANDARD 17)  # For ROS Noetic
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 
@@ -33,7 +34,8 @@ if(NOT CMAKE_BUILD_TYPE)
   set(CMAKE_BUILD_TYPE Release)
 endif()
 
-set(CMAKE_CXX_FLAGS "-Wall -Wextra -fPIC")
+# set(CMAKE_CXX_FLAGS "-Wall -Wextra -fPIC")
+set(CMAKE_CXX_FLAGS "-Wall -Wextra -fPIC -pthread")  # For ROS Noetic
 set(CMAKE_CXX_FLAGS_DEBUG "-g -O0")
 set(CMAKE_CXX_FLAGS_RELEASE "-O3")
 
@@ -50,19 +52,19 @@ set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)
 set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/bin)
 
 include(CTest)
-IF(IS_DIRECTORY "/usr/src/gtest/")
-  MESSAGE(STATUS "Found google test sources in /usr/src/gtest/")
+# IF(IS_DIRECTORY "/usr/src/gtest/")
+#   MESSAGE(STATUS "Found google test sources in /usr/src/gtest/")
 
-  ADD_SUBDIRECTORY(/usr/src/gtest/ gtest)
+#   ADD_SUBDIRECTORY(/usr/src/gtest/ gtest)
 
-  # mimick the behaviour of find_package(GTest)
-  SET(GTEST_FOUND TRUE)
-  SET(GTEST_BOTH_LIBRARIES gtest gtest_main)
-  SET(GTEST_LIBRARIES gtest)
-  SET(GTEST_MAIN_LIBRARIES gtest_main)
-ELSE()
-  find_package(GTest)
-ENDIF()
+#   # mimick the behaviour of find_package(GTest)
+#   SET(GTEST_FOUND TRUE)
+#   SET(GTEST_BOTH_LIBRARIES gtest gtest_main)
+#   SET(GTEST_LIBRARIES gtest)
+#   SET(GTEST_MAIN_LIBRARIES gtest_main)
+# ELSE()
+#   find_package(GTest)
+# ENDIF()
 
 set(Boost_USE_STATIC_LIBS OFF)
 
@@ -90,7 +92,7 @@ if(${DISTRO} MATCHES "14.04")
       Qt4::QtXml
       Qt4::QtOpenGL
       Qt4::QtGui)
-elseif(${DISTRO} MATCHES "16.04" OR ${DISTRO} MATCHES "18.04")
+elseif(${DISTRO} MATCHES "16.04" OR ${DISTRO} MATCHES "18.04" OR ${DISTRO} MATCHES "20.04")
   find_package(Qt5 REQUIRED COMPONENTS Core Xml OpenGL Gui Widgets)
   include_directories(${Qt5Core_INCLUDE_DIRS}
                       ${Qt5Xml_INCLUDE_DIRS}
diff --git a/src/clusterers/image_based_clusterer.h b/src/clusterers/image_based_clusterer.h
index 626372c..cd90f4f 100644
--- a/src/clusterers/image_based_clusterer.h
+++ b/src/clusterers/image_based_clusterer.h
@@ -24,7 +24,8 @@
 #include <chrono>
 #include <ctime>
 #include <map>
-#include <opencv/cv.h>
+// #include <opencv/cv.h>
+#include <opencv2/imgproc.hpp>  // For ROS Noetic
 #include <string>
 #include <unordered_map>
 #include <vector>
diff --git a/src/ground_removal/depth_ground_remover.cpp b/src/ground_removal/depth_ground_remover.cpp
index 2621f74..4d59ddd 100644
--- a/src/ground_removal/depth_ground_remover.cpp
+++ b/src/ground_removal/depth_ground_remover.cpp
@@ -20,7 +20,8 @@
 
 #include "./depth_ground_remover.h"
 
-#include <opencv2/highgui/highgui.hpp>
+// #include <opencv2/highgui/highgui.hpp>
+#include<opencv2/highgui/highgui_c.h> // For ROS Noetic
 
 #include <algorithm>
 
diff --git a/src/image_labelers/abstract_image_labeler.cpp b/src/image_labelers/abstract_image_labeler.cpp
index 76b53c9..3afbee3 100644
--- a/src/image_labelers/abstract_image_labeler.cpp
+++ b/src/image_labelers/abstract_image_labeler.cpp
@@ -20,8 +20,11 @@
 
 #include "./abstract_image_labeler.h"
 
-#include <opencv/cv.h>
-#include <opencv/highgui.h>
+// #include <opencv/cv.h>
+// #include <opencv/highgui.h>
+
+#include <opencv2/imgproc.hpp>
+#include <opencv2/highgui/highgui_c.h>
 
 #include <memory>
 #include <queue>
diff --git a/src/image_labelers/dijkstra_image_labeler.h b/src/image_labelers/dijkstra_image_labeler.h
index f2705eb..e5321c3 100644
--- a/src/image_labelers/dijkstra_image_labeler.h
+++ b/src/image_labelers/dijkstra_image_labeler.h
@@ -21,8 +21,12 @@
 #ifndef SRC_IMAGE_LABELERS_DIJKSTRA_IMAGE_LABELER_H_
 #define SRC_IMAGE_LABELERS_DIJKSTRA_IMAGE_LABELER_H_
 
-#include <opencv/cv.h>
-#include <opencv/highgui.h>
+// #include <opencv/cv.h>
+// #include <opencv/highgui.h>
+
+#include <opencv2/imgproc.hpp>
+#include <opencv2/highgui/highgui_c.h>
+
 
 #include <string>
 #include <queue>
diff --git a/src/projections/cloud_projection.h b/src/projections/cloud_projection.h
index bb1b49c..30c3657 100644
--- a/src/projections/cloud_projection.h
+++ b/src/projections/cloud_projection.h
@@ -21,8 +21,11 @@
 #ifndef SRC_PROJECTIONS_CLOUD_PROJECTION_H_
 #define SRC_PROJECTIONS_CLOUD_PROJECTION_H_
 
-#include <opencv/cv.h>
-#include <opencv/highgui.h>
+// #include <opencv/cv.h>
+// #include <opencv/highgui.h>
+
+#include <opencv2/imgproc.hpp>  // For ROS Noetic
+#include <opencv2/highgui/highgui_c.h>
 
 #include <Eigen/Core>
 
diff --git a/src/projections/ring_projection.h b/src/projections/ring_projection.h
index 0bd9931..baed491 100644
--- a/src/projections/ring_projection.h
+++ b/src/projections/ring_projection.h
@@ -21,7 +21,8 @@
 #ifndef SRC_PROJECTIONS_RING_PROJECTION_H_
 #define SRC_PROJECTIONS_RING_PROJECTION_H_
 
-#include <opencv/cv.h>
+// #include <opencv/cv.h>
+#include <opencv2/imgproc.hpp>  // For ROS Noetic
 
 #include <vector>
 
diff --git a/src/projections/spherical_projection.h b/src/projections/spherical_projection.h
index f6ffb3b..3c7ad29 100644
--- a/src/projections/spherical_projection.h
+++ b/src/projections/spherical_projection.h
@@ -21,7 +21,8 @@
 #ifndef SRC_PROJECTIONS_SPHERICAL_PROJECTION_H_
 #define SRC_PROJECTIONS_SPHERICAL_PROJECTION_H_
 
-#include <opencv/cv.h>
+// #include <opencv/cv.h>
+#include <opencv2/imgproc.hpp>  // ROS Noetic
 
 #include <vector>
 
diff --git a/src/qt/drawables/object_painter.h b/src/qt/drawables/object_painter.h
index 1b3d8c8..387599f 100644
--- a/src/qt/drawables/object_painter.h
+++ b/src/qt/drawables/object_painter.h
@@ -34,6 +34,7 @@
 #include <unordered_map>
 #include <vector>
 
+// #include <opencv/cv.h>
 #include <opencv2/imgproc.hpp>
 
 namespace depth_clustering {
diff --git a/src/utils/cloud.cpp b/src/utils/cloud.cpp
index 641bd8d..53bf507 100644
--- a/src/utils/cloud.cpp
+++ b/src/utils/cloud.cpp
@@ -114,7 +114,8 @@ typename pcl::PointCloud<pcl::PointXYZL>::Ptr Cloud::ToPcl() const {
     pcl_point.label = point.ring();
     pcl_cloud.push_back(pcl_point);
   }
-  return make_shared<PclCloud>(pcl_cloud);
+  // return make_shared<PclCloud>(pcl_cloud);
+  return boost::make_shared<PclCloud>(pcl_cloud); // For ROS Noetic
 }
 
 template <>
diff --git a/src/utils/velodyne_utils.cpp b/src/utils/velodyne_utils.cpp
index 116e0c9..342764d 100644
--- a/src/utils/velodyne_utils.cpp
+++ b/src/utils/velodyne_utils.cpp
@@ -23,8 +23,11 @@
 #include <boost/algorithm/string.hpp>
 #include <boost/algorithm/string/predicate.hpp>
 
-#include <opencv/cv.h>
-#include <opencv/highgui.h>
+// #include <opencv/cv.h>
+// #include <opencv/highgui.h>
+
+#include <opencv2/imgproc.hpp>
+#include <opencv2/highgui/highgui_c.h>
 
 #include <cassert>
 #include <fstream>
@@ -113,7 +116,8 @@ cv::Mat FixKITTIDepth(const cv::Mat& original) {
 }
 
 cv::Mat MatFromDepthPng(const string& path) {
-  cv::Mat depth_image = cv::imread(path, CV_LOAD_IMAGE_ANYDEPTH);
+  // cv::Mat depth_image = cv::imread(path, CV_LOAD_IMAGE_ANYDEPTH);
+  cv::Mat depth_image = cv::imread(path, cv::IMREAD_ANYDEPTH); // For ROS Noetic
   depth_image.convertTo(depth_image, CV_32F);
   depth_image /= 500.;
   return FixKITTIDepth(depth_image);
diff --git a/test/test_image_clusterer.cpp b/test/test_image_clusterer.cpp
index aa8246c..29165f4 100644
--- a/test/test_image_clusterer.cpp
+++ b/test/test_image_clusterer.cpp
@@ -19,7 +19,8 @@
 // DEALINGS IN THE SOFTWARE.
 
 #include <gtest/gtest.h>
-#include <opencv/cv.h>
+// #include <opencv/cv.h>
+#include <opencv2/imgproc.hpp>  // For ROS Noetic
 
 #include <string>
 #include <vector>