--- a/corelib/src/MarkerDetector.cpp
+++ b/corelib/src/MarkerDetector.cpp
@@ -380,11 +380,7 @@ std::map<int, MarkerInfo> MarkerDetector::detect(const cv::Mat & image,
                 std::map<int, MarkerInfo>::iterator iter = detections.find(ids[i]);
                 if(iter!=detections.end())
                 {
-#if CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION == 4 && (CV_MINOR_VERSION >1 || (CV_MINOR_VERSION==1 && CV_PATCH_VERSION>=1)))
                     cv::drawFrameAxes(*imageWithDetections, model.K(), model.D(), rvecs[i], tvecs[i], iter->second.length() * 0.5f);
-#else
-                    cv::aruco::drawAxis(*imageWithDetections, model.K(), model.D(), rvecs[i], tvecs[i], iter->second.length() * 0.5f);
-#endif
                 }
 			}
 		}