diff --git a/launch/face_detection.launch b/launch/face_detection.launch
index aa75ca81..d42a244f 100644
--- a/launch/face_detection.launch
+++ b/launch/face_detection.launch
@@ -2,7 +2,8 @@
   <arg name="node_name" default="face_detection" />
   <arg name="use_opencv3" default="false" />
   <arg name="use_opencv3_1" default="false" />
-  <arg name="use_opencv3_2" default="$(arg use_opencv3)" />
+  <arg name="use_opencv3_2" default="false" />
+  <arg name="use_opencv3_3" default="$(arg use_opencv3)" />
 
   <arg name="image" default="image" doc="The image topic. Should be remapped to the name of the real image topic." />
 
@@ -17,6 +18,10 @@
        name="face_cascade_name" default="$(find opencv3)/../OpenCV-3.2.0-dev/haarcascades/haarcascade_frontalface_alt.xml" doc="Face dtection cascade Filename" />
   <arg if="$(arg use_opencv3_2)"
        name="eyes_cascade_name" default="$(find opencv3)/../OpenCV-3.2.0-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml" doc="Eye dtection cascade Filename" />
+  <arg if="$(arg use_opencv3_3)"
+       name="face_cascade_name" default="$(find opencv3)/../OpenCV-3.3.1/haarcascades/haarcascade_frontalface_alt.xml" doc="Face dtection cascade Filename" />
+  <arg if="$(arg use_opencv3_3)"
+       name="eyes_cascade_name" default="$(find opencv3)/../OpenCV-3.3.1/haarcascades/haarcascade_eye_tree_eyeglasses.xml" doc="Eye dtection cascade Filename" />
   <arg unless="$(arg use_opencv3)"
        name="face_cascade_name" default="/usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml" doc="Face dtection cascade Filename" />
   <arg unless="$(arg use_opencv3)"
diff --git a/launch/face_recognition.launch b/launch/face_recognition.launch
index b7dbca80..9667d631 100644
--- a/launch/face_recognition.launch
+++ b/launch/face_recognition.launch
@@ -5,6 +5,7 @@
   <arg name="use_opencv3" default="false" />
   <arg name="use_opencv3_1" default="false" />
   <arg name="use_opencv3_2" default="false" />
+  <arg name="use_opencv3_3" default="false" />
   <arg name="debug_view" default="true" />
 
   <arg name="image" default="image" />
@@ -18,6 +19,7 @@
     <arg name="use_opencv3" value="$(arg use_opencv3)" />
     <arg name="use_opencv3_1" value="$(arg use_opencv3_1)" />
     <arg name="use_opencv3_2" value="$(arg use_opencv3_2)" />
+    <arg name="use_opencv3_3" value="$(arg use_opencv3_3)" />
   </include>
 
   <node name="face_recognition" pkg="opencv_apps" type="face_recognition"
diff --git a/src/nodelet/face_recognition_nodelet.cpp b/src/nodelet/face_recognition_nodelet.cpp
index 24b8051e..487d6d77 100644
--- a/src/nodelet/face_recognition_nodelet.cpp
+++ b/src/nodelet/face_recognition_nodelet.cpp
@@ -463,16 +463,34 @@ namespace face_recognition {
       if (need_recreate_model) {
         try {
           if (config.model_method == "eigen") {
+// https://docs.opencv.org/3.3.1/da/d60/tutorial_face_main.html
+#if CV_MAJOR_VERSION >= 3 && CV_MINOR_VERSION >= 3
+            model_ = face::EigenFaceRecognizer::create(config.model_num_components,
+						       config.model_threshold);
+#else
             model_ = face::createEigenFaceRecognizer(config.model_num_components,
                                                    config.model_threshold);
+#endif
           } else if (config.model_method == "fisher") {
+#if CV_MAJOR_VERSION >= 3 && CV_MINOR_VERSION >= 3
+            model_ = face::FisherFaceRecognizer::create(config.model_num_components,
+							config.model_threshold);
+#else
             model_ = face::createFisherFaceRecognizer(config.model_num_components,
                                                     config.model_threshold);
+#endif
           } else if (config.model_method == "LBPH") {
+#if CV_MAJOR_VERSION >= 3 && CV_MINOR_VERSION >= 3
+            model_ = face::LBPHFaceRecognizer::create(config.lbph_radius,
+						      config.lbph_neighbors,
+						      config.lbph_grid_x,
+						      config.lbph_grid_y);
+#else
             model_ = face::createLBPHFaceRecognizer(config.lbph_radius,
                                                   config.lbph_neighbors,
                                                   config.lbph_grid_x,
                                                   config.lbph_grid_y);
+#endif
           }
           need_retrain = true;
         } catch (cv::Exception &e) {
diff --git a/src/nodelet/lk_flow_nodelet.cpp b/src/nodelet/lk_flow_nodelet.cpp
index 24825adc..533e5ab8 100644
--- a/src/nodelet/lk_flow_nodelet.cpp
+++ b/src/nodelet/lk_flow_nodelet.cpp
@@ -159,7 +159,7 @@ class LKFlowNodelet : public opencv_apps::Nodelet
       if( needToInit )
       {
         // automatic initialization
-        cv::goodFeaturesToTrack(gray, points[1], MAX_COUNT, 0.01, 10, cv::Mat(), 3, 0, 0.04);
+        cv::goodFeaturesToTrack(gray, points[1], MAX_COUNT, 0.01, 10, cv::Mat(), 3, false, 0.04);
         cv::cornerSubPix(gray, points[1], subPixWinSize, cv::Size(-1,-1), termcrit);
         addRemovePt = false;
       }
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 8d0e7b23..5f713e7c 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -43,14 +43,15 @@ if(cv_bridge_VERSION VERSION_LESS "1.11.9") # hydro skip face_detection.test
 elseif(OpenCV_VERSION VERSION_LESS "3.0")
   add_rostest(test-face_detection.test ARGS gui:=false)
   add_rostest(test-face_recognition.test ARGS gui:=false)
+elseif(OpenCV_VERSION VERSION_LESS "3.2")
+  add_rostest(test-face_detection.test ARGS gui:=false use_opencv3:=true use_opencv3_1:=true)
+  add_rostest(test-face_recognition.test ARGS gui:=false use_opencv3:=true use_opencv3_1:=true)
+elseif(OpenCV_VERSION VERSION_LESS "3.3")
+  add_rostest(test-face_detection.test ARGS gui:=false use_opencv3:=true use_opencv3_2:=true)
+  add_rostest(test-face_recognition.test ARGS gui:=false use_opencv3:=true use_opencv3_2:=true)
 else()
-  if(OpenCV_VERSION VERSION_LESS "3.2")
-    add_rostest(test-face_detection.test ARGS gui:=false use_opencv3:=true use_opencv3_1:=true)
-    add_rostest(test-face_recognition.test ARGS gui:=false use_opencv3:=true use_opencv3_1:=true)
-  else()
-    add_rostest(test-face_detection.test ARGS gui:=false use_opencv3:=true use_opencv3_2:=true)
-    add_rostest(test-face_recognition.test ARGS gui:=false use_opencv3:=true use_opencv3_2:=true)
-  endif()
+  add_rostest(test-face_detection.test ARGS gui:=false use_opencv3:=true use_opencv3_3:=true)
+  add_rostest(test-face_recognition.test ARGS gui:=false use_opencv3:=true use_opencv3_3:=true)
 endif()
 add_rostest(test-goodfeature_track.test ARGS gui:=false)
 add_rostest(test-corner_harris.test ARGS gui:=false)
diff --git a/test/test-face_detection.test b/test/test-face_detection.test
index decd9b9e..fb604056 100644
--- a/test/test-face_detection.test
+++ b/test/test-face_detection.test
@@ -3,6 +3,7 @@
   <arg name="use_opencv3" default="false" />
   <arg name="use_opencv3_1" default="false" />
   <arg name="use_opencv3_2" default="false" />
+  <arg name="use_opencv3_3" default="false" />
   <node name="play_face_bag" pkg="rosbag" type="play" args="-l $(find opencv_apps)/test/face_detector_withface_test_diamondback.bag" />
 
   <group ns="wide_stereo/left" >
@@ -16,6 +17,7 @@
       <arg name="use_opencv3" value="$(arg use_opencv3)" />
       <arg name="use_opencv3_1" value="$(arg use_opencv3_1)" />
       <arg name="use_opencv3_2" value="$(arg use_opencv3_2)" />
+      <arg name="use_opencv3_3" value="$(arg use_opencv3_3)" />
     </include>
 
     <node name="face_image_viewer" pkg="image_view" type="image_view">
diff --git a/test/test-face_recognition.test b/test/test-face_recognition.test
index fd8a1b21..a4606b4b 100644
--- a/test/test-face_recognition.test
+++ b/test/test-face_recognition.test
@@ -3,6 +3,7 @@
   <arg name="use_opencv3" default="false" />
   <arg name="use_opencv3_1" default="false" />
   <arg name="use_opencv3_2" default="false" />
+  <arg name="use_opencv3_3" default="false" />
   <node name="play_face_bag" pkg="rosbag" type="play" args="-l $(find opencv_apps)/test/face_detector_withface_test_diamondback.bag" />
 
   <group ns="wide_stereo/left" >
@@ -18,6 +19,7 @@
       <arg name="use_opencv3" value="$(arg use_opencv3)" />
       <arg name="use_opencv3_1" value="$(arg use_opencv3_1)" />
       <arg name="use_opencv3_2" value="$(arg use_opencv3_2)" />
+      <arg name="use_opencv3_3" value="$(arg use_opencv3_3)" />
       <arg name="data_dir" value="$(find opencv_apps)/test/face_data" />
     </include>