diff --git a/M3T/CMakeLists.txt b/M3T/CMakeLists.txt
index db9f86b..7f0bda4 100644
--- a/M3T/CMakeLists.txt
+++ b/M3T/CMakeLists.txt
@@ -10,6 +10,7 @@ project(M3T)
 option(USE_AZURE_KINECT "Use Azure Kinect" ON)
 option(USE_REALSENSE "Use RealSense D435" ON)
 option(USE_GTEST "Use gtest" ON)
+option(USE_XFEATURES2D "Use OpenCV xfeatures2d" OFF)
 
 
 # Libraries
@@ -32,7 +33,14 @@ if (UNIX)
 endif ()
 find_package(OpenGL REQUIRED)
 find_package(glfw3 3.1.2 REQUIRED)
-find_package(OpenCV 4.3.0 REQUIRED COMPONENTS core imgproc highgui imgcodecs calib3d features2d xfeatures2d OPTIONAL_COMPONENTS cudafeatures2d)
+
+set(OpenCV_COMPONENTS core imgproc highgui imgcodecs calib3d features2d xfeatures2d)
+if(USE_XFEATURES2D)
+    add_definitions( -DUSE_XFEATURES2D=TRUE )
+    set(OpenCV_COMPONENTS ${OpenCV_COMPONENTS} xfeatures2d)
+endif()
+
+find_package(OpenCV 4.3.0 REQUIRED COMPONENTS ${OpenCV_COMPONENTS} OPTIONAL_COMPONENTS cudafeatures2d)
 
 if (USE_AZURE_KINECT)
     find_package(k4a 1.3.0 REQUIRED)
@@ -122,7 +130,7 @@ if (USE_REALSENSE)
     add_definitions( -DUSE_REALSENSE=TRUE )
 endif ()
 if(OpenCV_CUDA_VERSION)
-    add_definitions( -DUSE_CUDA=TRUE ) 
+    add_definitions( -DUSE_CUDA=TRUE )
 endif ()
 if (USE_GTEST)
     add_definitions( -DUSE_GTEST=TRUE )
diff --git a/M3T/include/m3t/texture_modality.h b/M3T/include/m3t/texture_modality.h
index e0720bc..b4fe8f1 100644
--- a/M3T/include/m3t/texture_modality.h
+++ b/M3T/include/m3t/texture_modality.h
@@ -23,7 +23,9 @@
 #include <deque>
 #include <opencv2/features2d.hpp>
 #include <opencv2/opencv.hpp>
+#ifdef USE_XFEATURES2D
 #include <opencv2/xfeatures2d.hpp>
+#endif
 #include <string>
 #include <vector>
 
diff --git a/M3T/src/texture_modality.cpp b/M3T/src/texture_modality.cpp
index 922a814..9ce1618 100644
--- a/M3T/src/texture_modality.cpp
+++ b/M3T/src/texture_modality.cpp
@@ -745,6 +745,7 @@ void TextureModality::SetUpFeatureDetectorAndMatcher() {
       feature_descriptor_ = cv::BRISK::create(brisk_threshold_, brisk_octave_,
                                               brisk_pattern_scale_);
       break;
+#ifdef USE_XFEATURES2D
     case DescriptorType::DAISY:
       feature_detector_ =
           cv::ORB::create(orb_n_features_, orb_scale_factor_, orb_n_levels_);
@@ -769,6 +770,7 @@ void TextureModality::SetUpFeatureDetectorAndMatcher() {
           sift_n_features_, sift_n_octave_layers_, sift_contrast_threshold_,
           sift_edge_threshold_, sift_sigma_);
       break;
+#endif
 #ifdef USE_CUDA
     case DescriptorType::ORB_CUDA:
       feature_detector_orb_cuda_ = cv::cuda::ORB::create(