diff --git a/doc/installation.md b/doc/installation.md
index a3c9097e..b568b84c 100644
--- a/doc/installation.md
+++ b/doc/installation.md
@@ -113,7 +113,7 @@ Any problem installing OpenPose? Check [doc/faq.md](./faq.md) and/or post a GitH
 ### Prerequisites
 1. Ubuntu - **Anaconda should not be installed** on your system. Anaconda includes a Protobuf version that is incompatible with Caffe. Either you uninstall anaconda and install protobuf via apt-get, or you compile your own Caffe and link it to OpenPose.
 2. Download and install CMake GUI:
-    - Ubuntu: run the command `sudo apt-get install cmake-qt-gui`. Note: If you prefer to use CMake through the command line, see [Cmake Command Line Build](#cmake-command-line-build-ubuntu-only).
+    - Ubuntu: run the command `sudo apt-get install cmake-qt-gui`. Note: If you prefer to use CMake through the command line, see [CMake Command Line Configuration (Ubuntu Only)](#cmake-command-line-configuration-ubuntu-only).
     - Windows: download and install the latest CMake win64-x64 msi installer from the [CMake website](https://cmake.org/download/), called `cmake-X.X.X-win64-x64.msi`.
     - Mac: `brew cask install cmake`.
 3. Windows - **Microsoft Visual Studio (VS) 2015 Enterprise Update 3**:
diff --git a/include/openpose/core/macros.hpp b/include/openpose/core/macros.hpp
index 6df6038d..c6a5f068 100644
--- a/include/openpose/core/macros.hpp
+++ b/include/openpose/core/macros.hpp
@@ -7,6 +7,7 @@
 #include <string>
 #include <thread> // std::this_thread
 #include <vector>
+#include <opencv2/core/core.hpp> // cv::Mat, check OpenCV version
 
 // OpenPose name and version
 const std::string OPEN_POSE_NAME_STRING = "OpenPose";
@@ -85,7 +86,16 @@ namespace boost
 }
 
 // Compabitility for OpenCV 4.0 while preserving 2.4.X and 3.X compatibility
-#if (defined(CV_MAJOR_VERSION) && CV_MAJOR_VERSION == 4)
+// Note:
+// - CV_VERSION:         2.4.9.1 | 4.0.0-beta
+// - CV_MAJOR_VERSION:         2 | 4
+// - CV_MINOR_VERSION:         4 | 0
+// - CV_SUBMINOR_VERSION:      9 | 0
+// - CV_VERSION_EPOCH:         2 | Not defined
+#if (defined(CV_MAJOR_VERSION) && CV_MAJOR_VERSION > 3)
+    #define OPEN_CV_IS_4_OR_HIGHER
+#endif
+#ifdef OPEN_CV_IS_4_OR_HIGHER
     #define CV_BGR2GRAY cv::COLOR_BGR2GRAY
     #define CV_CALIB_CB_ADAPTIVE_THRESH cv::CALIB_CB_ADAPTIVE_THRESH
     #define CV_CALIB_CB_NORMALIZE_IMAGE cv::CALIB_CB_NORMALIZE_IMAGE
diff --git a/include/openpose/net/headers.hpp b/include/openpose/net/headers.hpp
index 93fceae0..997c26a1 100644
--- a/include/openpose/net/headers.hpp
+++ b/include/openpose/net/headers.hpp
@@ -8,6 +8,7 @@
 #include <openpose/net/maximumCaffe.hpp>
 #include <openpose/net/net.hpp>
 #include <openpose/net/netCaffe.hpp>
+#include <openpose/net/netOpenCv.hpp>
 #include <openpose/net/nmsBase.hpp>
 #include <openpose/net/nmsCaffe.hpp>
 #include <openpose/net/resizeAndMergeBase.hpp>
diff --git a/include/openpose/net/netOpenCv.hpp b/include/openpose/net/netOpenCv.hpp
new file mode 100644
index 00000000..173d0b50
--- /dev/null
+++ b/include/openpose/net/netOpenCv.hpp
@@ -0,0 +1,34 @@
+#ifndef OPENPOSE_NET_NET_OPEN_CV_HPP
+#define OPENPOSE_NET_NET_OPEN_CV_HPP
+
+#include <openpose/core/common.hpp>
+#include <openpose/net/net.hpp>
+
+namespace op
+{
+    class OP_API NetOpenCv : public Net
+    {
+    public:
+        NetOpenCv(const std::string& caffeProto, const std::string& caffeTrainedModel, const int gpuId = 0);
+
+        virtual ~NetOpenCv();
+
+        void initializationOnThread();
+
+        void forwardPass(const Array<float>& inputNetData) const;
+
+        boost::shared_ptr<caffe::Blob<float>> getOutputBlob() const;
+
+    private:
+        // PIMPL idiom
+        // http://www.cppsamples.com/common-tasks/pimpl.html
+        struct ImplNetOpenCv;
+        std::unique_ptr<ImplNetOpenCv> upImpl;
+
+        // PIMP requires DELETE_COPY & destructor, or extra code
+        // http://oliora.github.io/2015/12/29/pimpl-and-rule-of-zero.html
+        DELETE_COPY(NetOpenCv);
+    };
+}
+
+#endif // OPENPOSE_NET_NET_OPEN_CV_HPP
diff --git a/include/openpose/utilities/keypoint.hpp b/include/openpose/utilities/keypoint.hpp
index 3ed1ed38..cd6a0f77 100644
--- a/include/openpose/utilities/keypoint.hpp
+++ b/include/openpose/utilities/keypoint.hpp
@@ -48,10 +48,10 @@ namespace op
                          const T threshold);
 
     template <typename T>
-    float getKeypointsROI(const Array<T>& keypoints, const int personA, const int personB, const T threshold);
+    float getKeypointsRoi(const Array<T>& keypoints, const int personA, const int personB, const T threshold);
 
     template <typename T>
-    float getKeypointsROI(const Array<T>& keypointsA, const int personA, const Array<T>& keypointsB, const int personB,
+    float getKeypointsRoi(const Array<T>& keypointsA, const int personA, const Array<T>& keypointsB, const int personB,
                           const T threshold);
 }
 
diff --git a/python/openpose/_openpose.cpp b/python/openpose/_openpose.cpp
index 363a33cd..ea7dd716 100644
--- a/python/openpose/_openpose.cpp
+++ b/python/openpose/_openpose.cpp
@@ -73,7 +73,7 @@ public:
 #ifdef USE_CUDA
         caffe::Caffe::set_mode(caffe::Caffe::GPU);
         caffe::Caffe::SetDevice(mGpuID);
-#elif USE_OPENCL
+#elif defined USE_OPENCL
         caffe::Caffe::set_mode(caffe::Caffe::GPU);
         std::vector<int> devices;
         const int maxNumberGpu = op::OpenCL::getTotalGPU();
@@ -217,7 +217,7 @@ public:
         std::vector<caffe::Blob<float>*> peaksBlobs{ peaksBlob.get() };
 #ifdef USE_CUDA
         resizeAndMergeCaffe->Forward_gpu(caffeNetOutputBlobs, heatMapsBlobs); // ~5ms
-#elif USE_OPENCL
+#elif defined USE_OPENCL
         resizeAndMergeCaffe->Forward_ocl(caffeNetOutputBlobs, heatMapsBlobs); // ~5ms
 #else
         resizeAndMergeCaffe->Forward_cpu(caffeNetOutputBlobs, heatMapsBlobs); // ~5ms
@@ -226,7 +226,7 @@ public:
         nmsCaffe->setThreshold((float)poseExtractorCaffe->get(op::PoseProperty::NMSThreshold));
 #ifdef USE_CUDA
         nmsCaffe->Forward_gpu(heatMapsBlobs, peaksBlobs);// ~2ms
-#elif USE_OPENCL
+#elif defined USE_OPENCL
         nmsCaffe->Forward_ocl(heatMapsBlobs, peaksBlobs);// ~2ms
 #else
         nmsCaffe->Forward_cpu(heatMapsBlobs, peaksBlobs);// ~2ms
diff --git a/src/openpose/core/cvMatToOpInput.cpp b/src/openpose/core/cvMatToOpInput.cpp
index 7a2af322..b8a01cb4 100644
--- a/src/openpose/core/cvMatToOpInput.cpp
+++ b/src/openpose/core/cvMatToOpInput.cpp
@@ -1,3 +1,4 @@
+// #include <opencv2/opencv.hpp>
 #include <openpose/utilities/fastMath.hpp>
 #include <openpose/utilities/openCv.hpp>
 #include <openpose/core/cvMatToOpInput.hpp>
@@ -31,13 +32,21 @@ namespace op
             std::vector<Array<float>> inputNetData(numberScales);
             for (auto i = 0u ; i < inputNetData.size() ; i++)
             {
-                inputNetData[i].reset({1, 3, netInputSizes.at(i).y, netInputSizes.at(i).x});
-                std::vector<double> scaleRatios(numberScales, 1.f);
                 cv::Mat frameWithNetSize;
                 resizeFixedAspectRatio(frameWithNetSize, cvInputData, scaleInputToNetInputs[i], netInputSizes[i]);
                 // Fill inputNetData[i]
+                inputNetData[i].reset({1, 3, netInputSizes.at(i).y, netInputSizes.at(i).x});
                 uCharCvMatToFloatPtr(inputNetData[i].getPtr(), frameWithNetSize,
                                      (mPoseModel == PoseModel::BODY_19N ? 2 : 1));
+                // // OpenCV equivalent
+                // const auto scale = 1/255.;
+                // const cv::Scalar mean{128,128,128};
+                // const cv::Size outputSize{netInputSizes[i].x, netInputSizes[i].y};
+                // // cv::Mat cvMat;
+                // cv::dnn::blobFromImage(
+                //     // frameWithNetSize, cvMat, scale, outputSize, mean);
+                //     frameWithNetSize, inputNetData[i].getCvMat(), scale, outputSize, mean);
+                // // log(cv::norm(cvMat - inputNetData[i].getCvMat())); // ~0.25
             }
             return inputNetData;
         }
diff --git a/src/openpose/net/CMakeLists.txt b/src/openpose/net/CMakeLists.txt
index bddb58e0..66026658 100644
--- a/src/openpose/net/CMakeLists.txt
+++ b/src/openpose/net/CMakeLists.txt
@@ -7,6 +7,7 @@ set(SOURCES_OP_NET
     maximumBase.cu
     maximumCaffe.cpp
     netCaffe.cpp
+    netOpenCv.cpp
     nmsBase.cpp
     nmsBase.cu
     nmsBaseCL.cpp
diff --git a/src/openpose/net/netCaffe.cpp b/src/openpose/net/netCaffe.cpp
index e051e9c5..ed7c86dd 100644
--- a/src/openpose/net/netCaffe.cpp
+++ b/src/openpose/net/netCaffe.cpp
@@ -205,9 +205,8 @@ namespace op
                 #elif defined USE_OPENCL
                     auto* gpuImagePtr = upImpl->upCaffeNet->blobs().at(0)->mutable_gpu_data();
                     cl::Buffer imageBuffer = cl::Buffer((cl_mem)gpuImagePtr, true);
-                    OpenCL::getInstance(upImpl->mGpuId)->getQueue().enqueueWriteBuffer(imageBuffer, true, 0,
-                                                                                       inputData.getVolume() * sizeof(float),
-                                                                                       inputData.getConstPtr());
+                    OpenCL::getInstance(upImpl->mGpuId)->getQueue().enqueueWriteBuffer(
+                        imageBuffer, true, 0, inputData.getVolume() * sizeof(float), inputData.getConstPtr());
                 #else
                     auto* cpuImagePtr = upImpl->upCaffeNet->blobs().at(0)->mutable_cpu_data();
                     std::copy(inputData.getConstPtr(), inputData.getConstPtr() + inputData.getVolume(), cpuImagePtr);
diff --git a/src/openpose/net/netOpenCv.cpp b/src/openpose/net/netOpenCv.cpp
new file mode 100644
index 00000000..455d1b06
--- /dev/null
+++ b/src/openpose/net/netOpenCv.cpp
@@ -0,0 +1,151 @@
+// Note: OpenCV only uses CPU or OpenCL (for Intel GPUs). Used CUDA for following blobs (Resize + NMS)
+#include <openpose/core/macros.hpp> // OPEN_CV_IS_4_OR_HIGHER
+#ifdef USE_CAFFE
+    #include <caffe/net.hpp>
+#endif
+#if defined(USE_CAFFE) && defined(USE_CUDA) && defined(OPEN_CV_IS_4_OR_HIGHER)
+    #define OPEN_CV_DNN_AVAILABLE
+    #include <opencv2/opencv.hpp>
+    #include <openpose/gpu/cuda.hpp>
+#endif
+#include <numeric> // std::accumulate
+#include <openpose/utilities/fileSystem.hpp>
+#include <openpose/net/netOpenCv.hpp>
+
+namespace op
+{
+    struct NetOpenCv::ImplNetOpenCv
+    {
+        #ifdef OPEN_CV_DNN_AVAILABLE
+            // Init with constructor
+            const int mGpuId;
+            const std::string mCaffeProto;
+            const std::string mCaffeTrainedModel;
+            // OpenCV DNN
+            cv::dnn::Net mNet;
+            cv::Mat mNetOutputBlob;
+            // std::shared_ptr<caffe::Blob<float>> spOutputBlob;
+            boost::shared_ptr<caffe::Blob<float>> spOutputBlob;
+
+            ImplNetOpenCv(const std::string& caffeProto, const std::string& caffeTrainedModel, const int gpuId) :
+                mGpuId{gpuId},
+                mCaffeProto{caffeProto},
+                mCaffeTrainedModel{caffeTrainedModel},
+                mNet{cv::dnn::readNetFromCaffe(caffeProto, caffeTrainedModel)},
+                // spOutputBlob{std::make_shared<caffe::Blob<float>>(1,1,1,1)}
+                spOutputBlob{new caffe::Blob<float>(1,1,1,1)}
+            {
+                const std::string message{".\nPossible causes:\n\t1. Not downloading the OpenPose trained models."
+                                          "\n\t2. Not running OpenPose from the same directory where the `model`"
+                                          " folder is located.\n\t3. Using paths with spaces."};
+                if (!existFile(mCaffeProto))
+                    error("Prototxt file not found: " + mCaffeProto + message, __LINE__, __FUNCTION__, __FILE__);
+                if (!existFile(mCaffeTrainedModel))
+                    error("Caffe trained model file not found: " + mCaffeTrainedModel + message,
+                          __LINE__, __FUNCTION__, __FILE__);
+
+                // Set GPU
+                mNet.setPreferableTarget(cv::dnn::DNN_TARGET_CPU); // 1.7 sec at -1x160
+                // mNet.setPreferableTarget(cv::dnn::DNN_TARGET_OPENCL); // 1.2 sec at -1x160
+                // mNet.setPreferableTarget(cv::dnn::DNN_TARGET_OPENCL_FP16);
+                // mNet.setPreferableTarget(cv::dnn::DNN_TARGET_MYRIAD);
+                // mNet.setPreferableTarget(cv::dnn::DNN_TARGET_VULKAN);
+                // // Set backen
+                // mNet.setPreferableBackend(cv::dnn::DNN_BACKEND_DEFAULT);
+                // mNet.setPreferableBackend(cv::dnn::DNN_BACKEND_HALIDE);
+                // mNet.setPreferableBackend(cv::dnn::DNN_BACKEND_INFERENCE_ENGINE);
+                // mNet.setPreferableBackend(cv::dnn::DNN_BACKEND_OPENCV);
+                // mNet.setPreferableBackend(cv::dnn::DNN_BACKEND_VKCOM);
+            }
+        #endif
+    };
+
+    #ifdef OPEN_CV_DNN_AVAILABLE
+        inline void reshapeNetOpenCv(caffe::Net<float>* caffeNet, const std::vector<int>& dimensions)
+        {
+            try
+            {
+                caffeNet->blobs()[0]->Reshape(dimensions);
+                caffeNet->Reshape();
+                #ifdef USE_CUDA
+                    cudaCheck(__LINE__, __FUNCTION__, __FILE__);
+                #endif
+            }
+            catch (const std::exception& e)
+            {
+                error(e.what(), __LINE__, __FUNCTION__, __FILE__);
+            }
+        }
+    #endif
+
+    NetOpenCv::NetOpenCv(const std::string& caffeProto, const std::string& caffeTrainedModel, const int gpuId)
+        #ifdef OPEN_CV_DNN_AVAILABLE
+            : upImpl{new ImplNetOpenCv{caffeProto, caffeTrainedModel, gpuId}}
+        #endif
+    {
+        try
+        {
+            #ifndef OPEN_CV_DNN_AVAILABLE
+                UNUSED(caffeProto);
+                UNUSED(caffeTrainedModel);
+                UNUSED(gpuId);
+                error("OpenPose must be compiled with the `USE_CAFFE` macro definition in order to use this"
+                      " functionality.", __LINE__, __FUNCTION__, __FILE__);
+            #endif
+        }
+        catch (const std::exception& e)
+        {
+            error(e.what(), __LINE__, __FUNCTION__, __FILE__);
+        }
+    }
+
+    NetOpenCv::~NetOpenCv()
+    {
+    }
+
+    void NetOpenCv::initializationOnThread()
+    {
+    }
+
+    void NetOpenCv::forwardPass(const Array<float>& inputData) const
+    {
+        try
+        {
+            #ifdef OPEN_CV_DNN_AVAILABLE
+                upImpl->mNet.setInput(inputData.getConstCvMat());
+                upImpl->mNetOutputBlob = upImpl->mNet.forward(); // 99% of the runtime here
+                std::vector<int> outputSize(upImpl->mNetOutputBlob.dims,0);
+                for (auto i = 0u ; i < outputSize.size() ; i++)
+                    outputSize[i] = upImpl->mNetOutputBlob.size[i];
+                upImpl->spOutputBlob->Reshape(outputSize);
+                auto* gpuImagePtr = upImpl->spOutputBlob->mutable_gpu_data();
+                cudaMemcpy(gpuImagePtr, (float*)upImpl->mNetOutputBlob.data,
+                           upImpl->spOutputBlob->count() * sizeof(float),
+                           cudaMemcpyHostToDevice);
+            #else
+                UNUSED(inputData);
+            #endif
+        }
+        catch (const std::exception& e)
+        {
+            error(e.what(), __LINE__, __FUNCTION__, __FILE__);
+        }
+    }
+
+    boost::shared_ptr<caffe::Blob<float>> NetOpenCv::getOutputBlob() const
+    {
+        try
+        {
+            #ifdef OPEN_CV_DNN_AVAILABLE
+                return upImpl->spOutputBlob;
+            #else
+                return nullptr;
+            #endif
+        }
+        catch (const std::exception& e)
+        {
+            error(e.what(), __LINE__, __FUNCTION__, __FILE__);
+            return nullptr;
+        }
+    }
+}
diff --git a/src/openpose/net/nmsCaffe.cpp b/src/openpose/net/nmsCaffe.cpp
index c17ccc78..209eb591 100644
--- a/src/openpose/net/nmsCaffe.cpp
+++ b/src/openpose/net/nmsCaffe.cpp
@@ -149,7 +149,7 @@ namespace op
             #ifdef USE_CUDA
                 Forward_gpu(bottom, top);
             // OpenCL
-            #elif USE_OPENCL
+            #elif defined USE_OPENCL
                 Forward_ocl(bottom, top);
             // CPU
             #else
diff --git a/src/openpose/net/resizeAndMergeCaffe.cpp b/src/openpose/net/resizeAndMergeCaffe.cpp
index 81d0ab1f..d7f96559 100644
--- a/src/openpose/net/resizeAndMergeCaffe.cpp
+++ b/src/openpose/net/resizeAndMergeCaffe.cpp
@@ -1,13 +1,13 @@
 #ifdef USE_CAFFE
     #include <caffe/blob.hpp>
 #endif
-#include <openpose/net/resizeAndMergeBase.hpp>
-#include <openpose/utilities/fastMath.hpp>
-#include <openpose/net/resizeAndMergeCaffe.hpp>
 #ifdef USE_OPENCL
     #include <openpose/gpu/opencl.hcl>
     #include <openpose/gpu/cl2.hpp>
 #endif
+#include <openpose/net/resizeAndMergeBase.hpp>
+#include <openpose/utilities/fastMath.hpp>
+#include <openpose/net/resizeAndMergeCaffe.hpp>
 
 namespace op
 {
@@ -135,7 +135,7 @@ namespace op
             #ifdef USE_CUDA
                 Forward_gpu(bottom, top);
             // OpenCL
-            #elif USE_OPENCL
+            #elif defined USE_OPENCL
                 Forward_ocl(bottom, top);
             // CPU
             #else
diff --git a/src/openpose/pose/poseExtractorCaffe.cpp b/src/openpose/pose/poseExtractorCaffe.cpp
index d3bcc105..bc8ec758 100644
--- a/src/openpose/pose/poseExtractorCaffe.cpp
+++ b/src/openpose/pose/poseExtractorCaffe.cpp
@@ -6,6 +6,7 @@
 #include <openpose/net/bodyPartConnectorCaffe.hpp>
 #include <openpose/net/maximumCaffe.hpp>
 #include <openpose/net/netCaffe.hpp>
+#include <openpose/net/netOpenCv.hpp>
 #include <openpose/net/nmsCaffe.hpp>
 #include <openpose/net/resizeAndMergeCaffe.hpp>
 #include <openpose/pose/poseParameters.hpp>
@@ -23,13 +24,13 @@ namespace op
     struct PoseExtractorCaffe::ImplPoseExtractorCaffe
     {
         #ifdef USE_CAFFE
-            // Used when increasing spCaffeNets
+            // Used when increasing spNets
             const PoseModel mPoseModel;
             const int mGpuId;
             const std::string mModelFolder;
             const bool mEnableGoogleLogging;
             // General parameters
-            std::vector<std::shared_ptr<NetCaffe>> spCaffeNets;
+            std::vector<std::shared_ptr<Net>> spNets;
             std::shared_ptr<ResizeAndMergeCaffe<float>> spResizeAndMergeCaffe;
             std::shared_ptr<NmsCaffe<float>> spNmsCaffe;
             std::shared_ptr<BodyPartConnectorCaffe<float>> spBodyPartConnectorCaffe;
@@ -114,7 +115,7 @@ namespace op
             }
         }
 
-        void addCaffeNetOnThread(std::vector<std::shared_ptr<NetCaffe>>& netCaffe,
+        void addCaffeNetOnThread(std::vector<std::shared_ptr<Net>>& net,
                                  std::vector<boost::shared_ptr<caffe::Blob<float>>>& caffeNetOutputBlob,
                                  const PoseModel poseModel, const int gpuId,
                                  const std::string& modelFolder, const bool enableGoogleLogging)
@@ -122,16 +123,23 @@ namespace op
             try
             {
                 // Add Caffe Net
-                netCaffe.emplace_back(
-                    std::make_shared<NetCaffe>(modelFolder + getPoseProtoTxt(poseModel),
-                                               modelFolder + getPoseTrainedModel(poseModel),
-                                               gpuId, enableGoogleLogging)
-                );
+                net.emplace_back(
+                    std::make_shared<NetCaffe>(
+                        modelFolder + getPoseProtoTxt(poseModel),
+                        modelFolder + getPoseTrainedModel(poseModel),
+                        gpuId, enableGoogleLogging));
+                // net.emplace_back(
+                //     std::make_shared<NetOpenCv>(
+                //         modelFolder + getPoseProtoTxt(poseModel),
+                //         modelFolder + getPoseTrainedModel(poseModel),
+                //         gpuId));
+                // UNUSED(enableGoogleLogging);
                 // Initializing them on the thread
-                netCaffe.back()->initializationOnThread();
-                caffeNetOutputBlob.emplace_back(netCaffe.back()->getOutputBlob());
+                net.back()->initializationOnThread();
+                caffeNetOutputBlob.emplace_back(((NetCaffe*)net.back().get())->getOutputBlob());
+                // caffeNetOutputBlob.emplace_back(((NetOpenCv*)net.back().get())->getOutputBlob());
                 // Sanity check
-                if (netCaffe.size() != caffeNetOutputBlob.size())
+                if (net.size() != caffeNetOutputBlob.size())
                     error("Weird error, this should not happen. Notify us.", __LINE__, __FUNCTION__, __FILE__);
                 // Cuda check
                 #ifdef USE_CUDA
@@ -188,7 +196,7 @@ namespace op
                 // Logging
                 log("Starting initialization on thread.", Priority::Low, __LINE__, __FUNCTION__, __FILE__);
                 // Initialize Caffe net
-                addCaffeNetOnThread(upImpl->spCaffeNets, upImpl->spCaffeNetOutputBlobs, upImpl->mPoseModel,
+                addCaffeNetOnThread(upImpl->spNets, upImpl->spCaffeNetOutputBlobs, upImpl->mPoseModel,
                                     upImpl->mGpuId, upImpl->mModelFolder, upImpl->mEnableGoogleLogging);
                 #ifdef USE_CUDA
                     cudaCheck(__LINE__, __FUNCTION__, __FILE__);
@@ -231,8 +239,8 @@ namespace op
                 // Resize std::vectors if required
                 const auto numberScales = inputNetData.size();
                 upImpl->mNetInput4DSizes.resize(numberScales);
-                while (upImpl->spCaffeNets.size() < numberScales)
-                    addCaffeNetOnThread(upImpl->spCaffeNets, upImpl->spCaffeNetOutputBlobs, upImpl->mPoseModel,
+                while (upImpl->spNets.size() < numberScales)
+                    addCaffeNetOnThread(upImpl->spNets, upImpl->spCaffeNetOutputBlobs, upImpl->mPoseModel,
                                         upImpl->mGpuId, upImpl->mModelFolder, false);
 
                 // Process each image
@@ -240,7 +248,7 @@ namespace op
                 {
                     // 1. Caffe deep network
                     // ~80ms
-                    upImpl->spCaffeNets.at(i)->forwardPass(inputNetData[i]);
+                    upImpl->spNets.at(i)->forwardPass(inputNetData[i]);
 
                     // Reshape blobs if required
                     // Note: In order to resize to input size to have same results as Matlab, uncomment the commented
@@ -387,7 +395,7 @@ namespace op
 
                             // Re-Process image
                             // 1. Caffe deep network
-                            upImpl->spCaffeNets.at(0)->forwardPass(inputNetDataRoi);
+                            upImpl->spNets.at(0)->forwardPass(inputNetDataRoi);
                             std::vector<boost::shared_ptr<caffe::Blob<float>>> caffeNetOutputBlob{upImpl->spCaffeNetOutputBlobs[0]};
                             // Reshape blobs
                             if (!vectorsAreEqual(upImpl->mNetInput4DSizes.at(0), inputNetDataRoi.getSize()))
@@ -461,7 +469,7 @@ namespace op
                                 for (auto person2 = 0 ; person2 < poseKeypoints.getSize(0) ; person2++)
                                 {
                                     // Get ROI
-                                    const auto currentRoi = getKeypointsROI(
+                                    const auto currentRoi = getKeypointsRoi(
                                         mPoseKeypoints, person, poseKeypoints, person2, nmsThreshold);
                                     // Update person
                                     if (personRoi < currentRoi
@@ -527,7 +535,7 @@ namespace op
                                         //         if (person != person2)
                                         //         {
                                         //             // Get ROI
-                                        //             const auto currentRoi = getKeypointsROI(
+                                        //             const auto currentRoi = getKeypointsRoi(
                                         //                 mPoseKeypoints, person, person2, nmsThreshold);
                                         //             // Update person
                                         //             if (currentRoi > 0.f)
diff --git a/src/openpose/tracking/pyramidalLK.cu b/src/openpose/tracking/pyramidalLK.cu
index 26327bd8..e88c7c41 100644
--- a/src/openpose/tracking/pyramidalLK.cu
+++ b/src/openpose/tracking/pyramidalLK.cu
@@ -8,7 +8,7 @@
     #if (defined(CV_VERSION_EPOCH) && CV_VERSION_EPOCH == 2)
         #include <opencv2/gpu/gpu.hpp>
         #define cvCuda cv::gpu
-    // OpenCV 3.X
+    // OpenCV > 2
     #else
         #include <opencv2/core/cuda.hpp>
         #include <opencv2/cudaimgproc.hpp>
diff --git a/src/openpose/utilities/keypoint.cpp b/src/openpose/utilities/keypoint.cpp
index a9cc61d2..c1bf3b4f 100644
--- a/src/openpose/utilities/keypoint.cpp
+++ b/src/openpose/utilities/keypoint.cpp
@@ -496,11 +496,11 @@ namespace op
         const double threshold);
 
     template <typename T>
-    float getKeypointsROI(const Array<T>& keypoints, const int personA, const int personB, const T threshold)
+    float getKeypointsRoi(const Array<T>& keypoints, const int personA, const int personB, const T threshold)
     {
         try
         {
-            return getKeypointsROI(keypoints, personA, keypoints, personB, threshold);
+            return getKeypointsRoi(keypoints, personA, keypoints, personB, threshold);
         }
         catch (const std::exception& e)
         {
@@ -508,13 +508,13 @@ namespace op
             return 0.f;
         }
     }
-    template OP_API float getKeypointsROI(
+    template OP_API float getKeypointsRoi(
         const Array<float>& keypoints, const int personA, const int personB, const float threshold);
-    template OP_API float getKeypointsROI(
+    template OP_API float getKeypointsRoi(
         const Array<double>& keypoints, const int personA, const int personB, const double threshold);
 
     template <typename T>
-    float getKeypointsROI(const Array<T>& keypointsA, const int personA, const Array<T>& keypointsB, const int personB,
+    float getKeypointsRoi(const Array<T>& keypointsA, const int personA, const Array<T>& keypointsB, const int personB,
                           const T threshold)
     {
         try
@@ -560,10 +560,10 @@ namespace op
             return 0.f;
         }
     }
-    template OP_API float getKeypointsROI(
+    template OP_API float getKeypointsRoi(
         const Array<float>& keypointsA, const int personA, const Array<float>& keypointsB, const int personB,
         const float threshold);
-    template OP_API float getKeypointsROI(
+    template OP_API float getKeypointsRoi(
         const Array<double>& keypointsA, const int personA, const Array<double>& keypointsB, const int personB,
         const double threshold);
 }