diff --git a/CMakeLists.txt b/CMakeLists.txt
index b9d301cba..354544c7e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -3,21 +3,27 @@
 ########################################################################
 #
 # Project-wide settings
-CMAKE_MINIMUM_REQUIRED(VERSION 3.10)
+CMAKE_MINIMUM_REQUIRED(VERSION 3.18)
 IF(POLICY CMP0011)
+	# Included scripts do automatic cmake_policy() PUSH and POP.
 	CMAKE_POLICY(SET CMP0011 NEW)
 ENDIF()
-IF(POLICY CMP0072)
-	CMAKE_POLICY(SET CMP0072 NEW)
-ENDIF()
 IF(POLICY CMP0074)
+	# find_package() uses <PackageName>_ROOT variables.
 	CMAKE_POLICY(SET CMP0074 NEW)
 ENDIF()
 IF(POLICY CMP0104)
+	# Initialize CMAKE_CUDA_ARCHITECTURES when CMAKE_CUDA_COMPILER_ID is NVIDIA. Raise an error if CUDA_ARCHITECTURES is empty.
 	CMAKE_POLICY(SET CMP0104 NEW)
 ENDIF()
 IF(POLICY CMP0146)
-	CMAKE_POLICY(SET CMP0146 OLD) # not required, but forced by OpenCV old support for CUDA
+	# Use CMake's first-class CUDA language support instead of FindCUDA().
+	# note: not required, but forced by OpenCV old support for CUDA
+	CMAKE_POLICY(SET CMP0146 OLD)
+ENDIF()
+IF(POLICY CMP0167)
+	# The FindBoost module is removed.
+	CMAKE_POLICY(SET CMP0167 NEW)
 ENDIF()
 
 # List configuration options
@@ -100,17 +106,6 @@ if(OpenMVS_USE_OPENMP)
 	endif()
 endif()
 
-if(OpenMVS_USE_OPENGL)
-	FIND_PACKAGE(OpenGL)
-	if(OPENGL_FOUND)
-		INCLUDE_DIRECTORIES(${OPENGL_INCLUDE_DIR})
-		ADD_DEFINITIONS(${OpenGL_DEFINITIONS})
-		SET(_USE_OPENGL TRUE)
-	else()
-		MESSAGE("-- Can't find OpenGL. Continuing without it.")
-	endif()
-endif()
-
 if(OpenMVS_USE_CUDA)
 	INCLUDE(CheckLanguage)
 	CHECK_LANGUAGE(CUDA)
@@ -208,10 +203,6 @@ if(Boost_FOUND)
 	INCLUDE_DIRECTORIES(${Boost_INCLUDE_DIRS})
 	ADD_DEFINITIONS(${Boost_DEFINITIONS})
 	LINK_DIRECTORIES(${Boost_LIBRARY_DIRS})
-	if(NOT MSVC AND DEFINED CMAKE_TOOLCHAIN_FILE)
-		# work around this missing library link in vcpkg
-		LIST(APPEND Boost_LIBRARIES zstd)
-	endif()
 	SET(_USE_BOOST TRUE)
 	if(OpenMVS_USE_PYTHON AND Boost_${Boost_EXTRA_COMPONENTS}_FOUND)
 		SET(_USE_BOOST_PYTHON TRUE)
diff --git a/apps/Viewer/CMakeLists.txt b/apps/Viewer/CMakeLists.txt
index bbdc6c6f1..9d89a1948 100644
--- a/apps/Viewer/CMakeLists.txt
+++ b/apps/Viewer/CMakeLists.txt
@@ -1,26 +1,18 @@
-if((NOT OpenMVS_USE_OPENGL) OR (NOT _USE_OPENGL))
-	RETURN()
-endif()
-
 if(NOT VIEWER_NAME)
 	set(VIEWER_NAME "Viewer")
 endif()
 
 # Find required packages
-FIND_PACKAGE(GLEW QUIET)
-if(GLEW_FOUND)
-	INCLUDE_DIRECTORIES(${GLEW_INCLUDE_DIRS})
-	ADD_DEFINITIONS(${GLEW_DEFINITIONS})
-	MESSAGE(STATUS "GLEW ${GLEW_VERSION} found (include: ${GLEW_INCLUDE_DIRS})")
+FIND_PACKAGE(glad QUIET)
+if(glad_FOUND)
+	MESSAGE(STATUS "GLAD ${glad_VERSION} found")
 else()
-	MESSAGE("-- Can't find GLEW. Continuing without it.")
+	MESSAGE("-- Can't find GLAD. Continuing without it.")
 	RETURN()
 endif()
 FIND_PACKAGE(glfw3 QUIET)
 if(glfw3_FOUND)
-	INCLUDE_DIRECTORIES(${glfw3_INCLUDE_DIRS})
-	ADD_DEFINITIONS(${glfw3_DEFINITIONS})
-	MESSAGE(STATUS "GLFW3 ${glfw3_VERSION} found (include: ${glfw3_INCLUDE_DIRS})")
+	MESSAGE(STATUS "GLFW3 ${glfw3_VERSION} found")
 else()
 	MESSAGE("-- Can't find GLFW3. Continuing without it.")
 	RETURN()
@@ -35,7 +27,7 @@ else()
 endif()
 FILE(GLOB LIBRARY_FILES_H "*.h" "*.inl")
 
-cxx_executable_with_flags(${VIEWER_NAME} "Apps" "${cxx_default}" "MVS;${OPENGL_LIBRARIES};${GLEW_LIBRARY};${GLFW_STATIC_LIBRARIES};GLEW::GLEW;${glfw3_LIBRARY};${GLFW3_LIBRARY};glfw;${OpenMVS_EXTRA_LIBS}" ${LIBRARY_FILES_C} ${LIBRARY_FILES_H})
+cxx_executable_with_flags(${VIEWER_NAME} "Apps" "${cxx_default}" "MVS;glad::glad;${GLFW_STATIC_LIBRARIES};${glfw3_LIBRARY};${GLFW3_LIBRARY};glfw;${OpenMVS_EXTRA_LIBS}" ${LIBRARY_FILES_C} ${LIBRARY_FILES_H})
 
 # Manually set Common.h as the precompiled header
 IF(CMAKE_VERSION VERSION_GREATER_EQUAL 3.16.0)
diff --git a/apps/Viewer/Common.h b/apps/Viewer/Common.h
index f3387834e..ff2f0dc53 100644
--- a/apps/Viewer/Common.h
+++ b/apps/Viewer/Common.h
@@ -35,17 +35,12 @@
 
 // I N C L U D E S /////////////////////////////////////////////////
 
-#include <GL/glew.h>
 #include "../../libs/MVS/Common.h"
 #include "../../libs/MVS/Scene.h"
 
-#if defined(_MSC_VER)
-#include <gl/GLU.h>
-#elif defined(__APPLE__)
-#include <OpenGL/glu.h>
-#else
-#include <GL/glu.h>
-#endif
+#define GLAD_GL_IMPLEMENTATION
+#include <glad/glad.h>
+#define GLFW_INCLUDE_NONE 
 #include <GLFW/glfw3.h>
 
 
diff --git a/apps/Viewer/Scene.cpp b/apps/Viewer/Scene.cpp
index 8053bb5cc..31ee33c59 100644
--- a/apps/Viewer/Scene.cpp
+++ b/apps/Viewer/Scene.cpp
@@ -186,8 +186,9 @@ bool Scene::Init(const cv::Size& size, LPCTSTR windowName, LPCTSTR fileName, LPC
 		return false;
 	if (!window.Init(size, windowName))
 		return false;
-	if (glewInit() != GLEW_OK)
+	if (gladLoadGL() == 0)
 		return false;
+    VERBOSE("OpenGL: %s %s", glGetString(GL_RENDERER), glGetString(GL_VERSION));
 	name = windowName;
 	window.clbkOpenScene = DELEGATEBINDCLASS(Window::ClbkOpenScene, &Scene::Open, this);
 
diff --git a/apps/Viewer/Window.cpp b/apps/Viewer/Window.cpp
index 90d891126..9eacf6d6c 100644
--- a/apps/Viewer/Window.cpp
+++ b/apps/Viewer/Window.cpp
@@ -62,9 +62,6 @@ Window::~Window()
 void Window::Release()
 {
 	if (IsValid()) {
-		#ifdef _USE_NUKLEAR
-		nk_glfw3_shutdown();
-		#endif
 		glfwDestroyWindow(window);
 		window = NULL;
 	}
@@ -205,14 +202,6 @@ void Window::UpdateMousePosition(double xpos, double ypos)
 }
 
 
-void Window::GetFrame(Image8U3& image) const
-{
-	image.create(GetSize());
-	glReadPixels(0, 0, image.width(), image.height(), GL_BGR_EXT, GL_UNSIGNED_BYTE, image.ptr());
-	cv::flip(image, image, 0);
-}
-
-
 cv::Size Window::GetSize() const
 {
 	cv::Size _size;
diff --git a/apps/Viewer/Window.h b/apps/Viewer/Window.h
index ad9a957d0..188be99ed 100644
--- a/apps/Viewer/Window.h
+++ b/apps/Viewer/Window.h
@@ -139,8 +139,6 @@ class Window
 	void UpdateView(const Eigen::Matrix3d& R, const Eigen::Vector3d& t);
 	void UpdateMousePosition(double xpos, double ypos);
 
-	void GetFrame(Image8U3&) const;
-
 	cv::Size GetSize() const;
 	void Resize(const cv::Size&);
 	static void Resize(GLFWwindow* window, int width, int height);
diff --git a/build/Templates/ConfigLocal.h.in b/build/Templates/ConfigLocal.h.in
index 0ca0e239a..4a14fb894 100644
--- a/build/Templates/ConfigLocal.h.in
+++ b/build/Templates/ConfigLocal.h.in
@@ -39,9 +39,6 @@
 // TIFF codec
 #cmakedefine _USE_TIFF
 
-// OpenGL support
-#cmakedefine _USE_OPENGL
-
 // OpenCL support
 #cmakedefine _USE_OPENCL
 #cmakedefine _USE_OPENCL_STATIC
diff --git a/libs/MVS/DepthMap.cpp b/libs/MVS/DepthMap.cpp
index 4ae4ef36e..f3fa2164f 100644
--- a/libs/MVS/DepthMap.cpp
+++ b/libs/MVS/DepthMap.cpp
@@ -266,7 +266,7 @@ bool DepthData::Load(const String& fileName, unsigned flags)
 	Camera camera;
 	if (!ImportDepthDataRaw(fileName, imageFileName, IDs, imageSize, camera.K, camera.R, camera.C, dMin, dMax, depthMap, normalMap, confMap, viewsMap, flags))
 		return false;
-	ASSERT(!IsValid() || (IDs.size() == images.size() && IDs.front() == GetView().GetID()));
+	ASSERT(!IDs.empty() && (!IsValid() || IDs.front() == GetView().GetID()));
 	ASSERT(depthMap.size() == imageSize);
 	ASSERT(depthMap.size() == size);
 	return true;
@@ -1834,7 +1834,7 @@ bool MVS::ExportDepthDataRaw(const String& fileName, const String& imageFileName
 	Depth dMin, Depth dMax,
 	const DepthMap& depthMap, const NormalMap& normalMap, const ConfidenceMap& confMap, const ViewsMap& viewsMap)
 {
-	ASSERT(IDs.size() > 1 && IDs.size() < 256);
+	ASSERT(!IDs.empty() && IDs.size() < 256);
 	ASSERT(!depthMap.empty());
 	ASSERT(confMap.empty() || depthMap.size() == confMap.size());
 	ASSERT(viewsMap.empty() || depthMap.size() == viewsMap.size());
diff --git a/libs/MVS/SceneReconstruct.cpp b/libs/MVS/SceneReconstruct.cpp
index a6c6d5cce..5092f8f97 100644
--- a/libs/MVS/SceneReconstruct.cpp
+++ b/libs/MVS/SceneReconstruct.cpp
@@ -38,8 +38,8 @@
 #include <CGAL/Triangulation_cell_base_with_info_3.h>
 #include <CGAL/Spatial_sort_traits_adapter_3.h>
 #include <CGAL/AABB_tree.h>
-#include <CGAL/AABB_traits.h>
-#include <CGAL/AABB_triangle_primitive.h>
+#include <CGAL/AABB_traits_3.h>
+#include <CGAL/AABB_triangle_primitive_3.h>
 #include <CGAL/Polyhedron_3.h>
 
 using namespace MVS;
diff --git a/vcpkg.json b/vcpkg.json
index 6c4891c03..0e181e49b 100644
--- a/vcpkg.json
+++ b/vcpkg.json
@@ -14,7 +14,7 @@
       "default-features": false
     },
     "eigen3",
-    "glew",
+    "glad",
     "glfw3",
     "libpng",
     {
@@ -24,7 +24,6 @@
         "openexr"
       ]
     },
-    "opengl",
     "tiff",
     "vcglib",
     "zlib"