diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9f2bfd8329..c14cb659b7 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -814,6 +814,7 @@ IF(NOT MSVC)
            open_chisel_FOUND OR
            vins_FOUND OR
            ov_msckf_FOUND OR
+           msckf_vio_FOUND OR
            libpointmatcher_FOUND))
      #Newest versions require std11
      include(CheckCXXCompilerFlag)
@@ -829,6 +830,7 @@ IF(NOT MSVC)
     ENDIF()
 ENDIF()
 
+
 ####### OSX BUNDLE CMAKE_INSTALL_PREFIX #######
 IF(APPLE AND BUILD_AS_BUNDLE)
   IF(Qt6_FOUND OR Qt5_FOUND OR (QT4_FOUND AND QT_QTCORE_FOUND AND QT_QTGUI_FOUND))
@@ -913,9 +915,9 @@ ENDIF(NOT Open3D_FOUND)
 IF(NOT FastCV_FOUND)
    SET(FASTCV "//")
 ENDIF(NOT FastCV_FOUND)
-IF(NOT opengv_FOUND)
+IF(NOT opengv_FOUND OR NOT WITH_OPENGV)
    SET(OPENGV "//")
-ENDIF(NOT opengv_FOUND)
+ENDIF(NOT opengv_FOUND OR NOT WITH_OPENGV)
 IF(NOT PDAL_FOUND)
    SET(PDAL "//")
 ENDIF(NOT PDAL_FOUND)
@@ -1459,7 +1461,7 @@ ELSE()
 MESSAGE(STATUS "  With Open3D               = NO (Open3D not found)")
 ENDIF()
 
-IF(opengv_FOUND)
+IF(opengv_FOUND AND WITH_OPENGV)
 MESSAGE(STATUS "  With OpenGV ${opengv_VERSION}           = YES (License: BSD)")
 ELSEIF(NOT WITH_OPENGV)
 MESSAGE(STATUS "  With OpenGV               = NO (WITH_OPENGV=OFF)")
diff --git a/docker/jfr2018/Dockerfile b/docker/jfr2018/Dockerfile
index 064334f566..0eab9008ee 100644
--- a/docker/jfr2018/Dockerfile
+++ b/docker/jfr2018/Dockerfile
@@ -127,8 +127,7 @@ WORKDIR /root/catkin_ws/src
 RUN /bin/bash -c '. /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace'
 RUN git clone https://github.com/tum-vision/dvo_slam.git && cd dvo_slam && git checkout kinetic-devel && rm dvo_slam/package.xml && rm dvo_benchmark/package.xml && rm dvo_ros/package.xml
 RUN git clone https://github.com/srv/viso2.git && cd viso2 && git checkout kinetic
-# msckf: using a patched version to be used outside ros and c++14:
-RUN git clone https://github.com/borongyuan/msckf_vio.git && cd msckf_vio && git checkout e69cdb68e9b31a438bbc51bb77cd34fe9b2e80cb
+RUN git clone https://github.com/KumarRobotics/msckf_vio.git && cd msckf_vio && git checkout a9386c5 && wget https://gist.githubusercontent.com/matlabbe/f2518d7427e7f6740af2110e540b1f2b/raw/1b7c96b38e063bacfa77408686e4528f3d27af2e/msckf_vio_a9386c5_ros_commented.patch && git apply --ignore-space-change --ignore-whitespace msckf_vio_a9386c5_ros_commented.patch
 RUN git clone https://github.com/srv/libfovis.git && cd libfovis && git checkout db2fc39451e59317cf8486d92085da1c8e414785
 RUN git clone https://github.com/ros-perception/vision_opencv.git && cd vision_opencv && git checkout kinetic
 RUN git clone https://github.com/laboshinl/loam_velodyne.git && cd loam_velodyne && git checkout a4c364a677647f2a35831439032dc5a58378b3fd
diff --git a/docker/jfr2018/latest/Dockerfile b/docker/jfr2018/latest/Dockerfile
index f98a2a89d5..9dde6f351f 100644
--- a/docker/jfr2018/latest/Dockerfile
+++ b/docker/jfr2018/latest/Dockerfile
@@ -138,7 +138,7 @@ RUN git clone https://github.com/tum-vision/dvo_slam.git && cd dvo_slam && git c
 # VISO2
 RUN git clone https://github.com/srv/viso2.git && cd viso2 && git checkout ${ROS_DISTRO}
 # MSCKF-VIO: using a patched version to be used outside ros and c++14:
-RUN git clone https://github.com/borongyuan/msckf_vio.git && cd msckf_vio && git checkout e69cdb68e9b31a438bbc51bb77cd34fe9b2e80cb
+RUN git clone https://github.com/borongyuan/msckf_vio.git && cd msckf_vio && git checkout 916c917e5b481741c60732057f0141e8311962c1
 # FOVIS
 RUN git clone https://github.com/srv/libfovis.git && cd libfovis && git checkout 896acc8425e9fd7c5609153b8bad349ae1abbb50
 # LOAM
@@ -227,21 +227,55 @@ ENV ORB_SLAM2_ROOT_DIR /root/ORB_SLAM2
 
 WORKDIR /root
 
+# To make "source" working
+RUN rm /bin/sh && ln -s /bin/bash /bin/sh
+
+# Need cmake >=3.10
+RUN apt update && apt install -y wget && apt-get clean && rm -rf /var/lib/apt/lists/ && \
+    wget -nv https://github.com/Kitware/CMake/releases/download/v3.17.0/cmake-3.17.0-Linux-x86_64.tar.gz && \
+    tar -xzf cmake-3.17.0-Linux-x86_64.tar.gz && \
+    rm cmake-3.17.0-Linux-x86_64.tar.gz &&\
+    ln -s ~/cmake-3.17.0-Linux-x86_64/bin/cmake ~/cmake
+
 # Copy current source code
 COPY . /root/rtabmap
 
 # Patch for OpenCV 3.1
-RUN cd rtabmap && wget https://gist.githubusercontent.com/matlabbe/ab42b8ea5d5902ffc6177539b98d9d51/raw/87520db7a54bf2673be3fc898578cd6348dd66f0/rtabmap_opencv310_backward_compatibility.patch && git apply --ignore-space-change --ignore-whitespace rtabmap_opencv310_backward_compatibility.patch
+RUN cd rtabmap && git apply --ignore-space-change --ignore-whitespace docker/jfr2018/rtabmap_opencv310_backward_compatibility.patch
 
 # Build RTAB-Map (using standard g2o, then a version for orbslam2, which uses its own g2o version)
 RUN cp -r rtabmap rtabmap_os2 && cp -r rtabmap rtabmap_msckf && cp -r rtabmap rtabmap_loam
-RUN /bin/bash -c '. /root/catkin_ws/devel/setup.bash; cd rtabmap ;  cd build ;  cmake -DWITH_FOVIS=ON -DWITH_VISO2=ON -DWITH_DVO=ON -DWITH_OKVIS=ON -DWITH_VINS=ON -DWITH_OPENVINS=ON .. ;  make -j3 ; make install ; rm -rf * ; ldconfig'
+
+RUN source /root/catkin_ws/devel/setup.bash && \
+    cd rtabmap && \
+    cd build && \
+    ~/cmake -DWITH_FOVIS=ON -DWITH_VISO2=ON -DWITH_DVO=ON -DWITH_OKVIS=ON -DWITH_VINS=ON -DWITH_OPENVINS=ON -DWITH_OPENGV=OFF .. && \
+    make -j3 && \
+    make install && \
+    rm -rf * && \
+    ldconfig
 # Version with orb_slam2 (system g2o disabled)
-RUN /bin/bash -c '. /root/catkin_ws/devel/setup.bash; cd rtabmap_os2 ; cd build ; cmake -DWITH_G2O=OFF -DWITH_ORB_SLAM=ON .. ; make -j3 ; rm -rf *'
+RUN source /root/catkin_ws/devel/setup.bash && \
+    cd rtabmap_os2 && \
+    cd build && \
+    ~/cmake -DWITH_G2O=OFF -DWITH_ORB_SLAM=ON -DWITH_OPENGV=OFF .. && \
+    make -j3 && \
+    rm -rf *
 
 # rtabmap is crashing if LOAM and MSCKF dependencies are used at the same time, so split them
-RUN /bin/bash -c '. /root/catkin_ws/devel/setup.bash; cd rtabmap_loam ;cd build ;cmake  -DWITH_LOAM=ON -DWITH_FLOAM=ON .. ;make -j3 ;rm -rf *'
-RUN /bin/bash -c '. /root/catkin_ws/devel/setup.bash; cd rtabmap_msckf ;cd build ;cmake -DWITH_MSCKF_VIO=ON .. ;make -j3 ;rm -rf *'
+RUN source /root/catkin_ws/devel/setup.bash && \
+    cd rtabmap_loam && \
+    cd build && \
+    ~/cmake  -DWITH_LOAM=ON -DWITH_FLOAM=ON -DWITH_OPENGV=OFF .. && \
+    make -j3 && \
+    rm -rf *
+RUN source /root/catkin_ws/devel/setup.bash && \
+    cd rtabmap_msckf && \
+    git apply --ignore-space-change --ignore-whitespace docker/jfr2018/rtabmap_msckf_ubuntu_16_compatibility.patch && \
+    cd build && \
+    ~/cmake -DWITH_MSCKF_VIO=ON -DWITH_OPENGV=OFF .. && \
+    make -j3 && \
+    rm -rf *
 
 WORKDIR /root
     
diff --git a/docker/jfr2018/rtabmap_msckf_ubuntu_16_compatibility.patch b/docker/jfr2018/rtabmap_msckf_ubuntu_16_compatibility.patch
new file mode 100644
index 0000000000..a396cde070
--- /dev/null
+++ b/docker/jfr2018/rtabmap_msckf_ubuntu_16_compatibility.patch
@@ -0,0 +1,13 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index c14cb659..2c370200 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -830,6 +830,8 @@ IF(NOT MSVC)
+     ENDIF()
+ ENDIF()
+ 
++set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fext-numeric-literals")
++
+ 
+ ####### OSX BUNDLE CMAKE_INSTALL_PREFIX #######
+ IF(APPLE AND BUILD_AS_BUNDLE)
diff --git a/docker/jfr2018/rtabmap_opencv310_backward_compatibility.patch b/docker/jfr2018/rtabmap_opencv310_backward_compatibility.patch
new file mode 100644
index 0000000000..949906ea10
--- /dev/null
+++ b/docker/jfr2018/rtabmap_opencv310_backward_compatibility.patch
@@ -0,0 +1,13 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 9f2bfd83..65b03eef 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -228,7 +228,7 @@ ENDIF()
+ set(RTABMAP_QT_VERSION AUTO CACHE STRING "Force a specific Qt version.")
+ set_property(CACHE RTABMAP_QT_VERSION PROPERTY STRINGS AUTO 4 5 6)
+ 
+-FIND_PACKAGE(OpenCV REQUIRED QUIET COMPONENTS core calib3d imgproc highgui stitching photo video videoio OPTIONAL_COMPONENTS aruco xfeatures2d nonfree gpu cudafeatures2d)
++FIND_PACKAGE(OpenCV QUIET COMPONENTS core calib3d imgproc highgui stitching photo video videoio OPTIONAL_COMPONENTS aruco xfeatures2d nonfree gpu cudafeatures2d)
+ 
+ IF(WITH_QT)
+ FIND_PACKAGE(PCL 1.7 REQUIRED QUIET COMPONENTS common io kdtree search surface filters registration sample_consensus segmentation visualization)