diff --git a/corelib/src/optimizer/OptimizerGTSAM.cpp b/corelib/src/optimizer/OptimizerGTSAM.cpp
index 484c370021..ac2afff0a4 100644
--- a/corelib/src/optimizer/OptimizerGTSAM.cpp
+++ b/corelib/src/optimizer/OptimizerGTSAM.cpp
@@ -527,7 +527,7 @@ std::map<int, Transform> OptimizerGTSAM::optimize(
 			{
 				float x,y,z,roll,pitch,yaw;
 				std::map<int, Transform> tmpPoses;
-#if GTSAM_VERSION_MAJOR > 4 || (GTSAM_VERSION_MAJOR == 4 && GTSAM_VERSION_MINOR >= 3)
+#if GTSAM_VERSION_NUMERIC >= 40200
 				for(gtsam::Values::deref_iterator iter=optimizer->values().begin(); iter!=optimizer->values().end(); ++iter)
 #else
 				for(gtsam::Values::const_iterator iter=optimizer->values().begin(); iter!=optimizer->values().end(); ++iter)
@@ -634,7 +634,7 @@ std::map<int, Transform> OptimizerGTSAM::optimize(
 				optimizer->iterations(), optimizer->error(), graph.error(initialEstimate), graph.error(optimizer->values()), timer.ticks());
 
 		float x,y,z,roll,pitch,yaw;
-#if GTSAM_VERSION_MAJOR > 4 || (GTSAM_VERSION_MAJOR == 4 && GTSAM_VERSION_MINOR >= 3)
+#if GTSAM_VERSION_NUMERIC >= 40200
 		for(gtsam::Values::deref_iterator iter=optimizer->values().begin(); iter!=optimizer->values().end(); ++iter)
 #else
 		for(gtsam::Values::const_iterator iter=optimizer->values().begin(); iter!=optimizer->values().end(); ++iter)
diff --git a/corelib/src/optimizer/gtsam/GravityFactor.h b/corelib/src/optimizer/gtsam/GravityFactor.h
index 21e0116eec..0ca1a75a77 100644
--- a/corelib/src/optimizer/gtsam/GravityFactor.h
+++ b/corelib/src/optimizer/gtsam/GravityFactor.h
@@ -63,14 +63,14 @@ class GravityFactor {
 
   /** vector of errors */
   Vector attitudeError(const Rot3& p,
-#if GTSAM_VERSION_MAJOR > 4 || (GTSAM_VERSION_MAJOR == 4 && GTSAM_VERSION_MINOR >= 3)
+#if GTSAM_VERSION_NUMERIC >= 40300
       OptionalJacobian<2,3> H = {}) const;
 #else
   	  OptionalJacobian<2,3> H = boost::none) const;
 #endif
 
   /** Serialization function */
-#if defined(GTSAM_ENABLE_BOOST_SERIALIZATION) || GTSAM_VERSION_MAJOR < 4 || (GTSAM_VERSION_MAJOR == 4 && GTSAM_VERSION_MINOR < 3)
+#if defined(GTSAM_ENABLE_BOOST_SERIALIZATION) || GTSAM_VERSION_NUMERIC < 40300
   friend class boost::serialization::access;
   template<class ARCHIVE>
   void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
@@ -91,7 +91,7 @@ class Rot3GravityFactor: public NoiseModelFactor1<Rot3>, public GravityFactor {
 public:
 
   /// shorthand for a smart pointer to a factor
-#if GTSAM_VERSION_MAJOR > 4 || (GTSAM_VERSION_MAJOR == 4 && GTSAM_VERSION_MINOR >= 3)
+#if GTSAM_VERSION_NUMERIC >= 40300
   typedef std::shared_ptr<Rot3GravityFactor> shared_ptr;
   #else
   typedef boost::shared_ptr<Rot3GravityFactor> shared_ptr;
@@ -121,7 +121,7 @@ class Rot3GravityFactor: public NoiseModelFactor1<Rot3>, public GravityFactor {
 
   /// @return a deep copy of this factor
   virtual gtsam::NonlinearFactor::shared_ptr clone() const {
-#if GTSAM_VERSION_MAJOR > 4 || (GTSAM_VERSION_MAJOR == 4 && GTSAM_VERSION_MINOR >= 3)
+#if GTSAM_VERSION_NUMERIC >= 40300
     return std::static_pointer_cast<gtsam::NonlinearFactor>(
 #else
     return boost::static_pointer_cast<gtsam::NonlinearFactor>(
@@ -138,7 +138,7 @@ class Rot3GravityFactor: public NoiseModelFactor1<Rot3>, public GravityFactor {
 
   /** vector of errors */
   virtual Vector evaluateError(const Rot3& nRb, //
-#if GTSAM_VERSION_MAJOR > 4 || (GTSAM_VERSION_MAJOR == 4 && GTSAM_VERSION_MINOR >= 3)
+#if GTSAM_VERSION_NUMERIC >= 40300
 	OptionalMatrixType H = OptionalNone) const {
 #else
 	boost::optional<Matrix&> H = boost::none) const {
@@ -153,7 +153,7 @@ class Rot3GravityFactor: public NoiseModelFactor1<Rot3>, public GravityFactor {
   }
 
 private:
-#if defined(GTSAM_ENABLE_BOOST_SERIALIZATION) || GTSAM_VERSION_MAJOR < 4 || (GTSAM_VERSION_MAJOR == 4 && GTSAM_VERSION_MINOR < 3)
+#if defined(GTSAM_ENABLE_BOOST_SERIALIZATION) || GTSAM_VERSION_NUMERIC < 40300
   /** Serialization function */
   friend class boost::serialization::access;
   template<class ARCHIVE>
@@ -182,7 +182,7 @@ class Pose3GravityFactor: public NoiseModelFactor1<Pose3>,
 public:
 
   /// shorthand for a smart pointer to a factor
-#if GTSAM_VERSION_MAJOR > 4 || (GTSAM_VERSION_MAJOR == 4 && GTSAM_VERSION_MINOR >= 3)
+#if GTSAM_VERSION_NUMERIC >= 40300
   typedef std::shared_ptr<Pose3GravityFactor> shared_ptr;
 #else
   typedef boost::shared_ptr<Pose3GravityFactor> shared_ptr;
@@ -211,7 +211,7 @@ class Pose3GravityFactor: public NoiseModelFactor1<Pose3>,
 
   /// @return a deep copy of this factor
   virtual gtsam::NonlinearFactor::shared_ptr clone() const {
-#if GTSAM_VERSION_MAJOR > 4 || (GTSAM_VERSION_MAJOR == 4 && GTSAM_VERSION_MINOR >= 3)
+#if GTSAM_VERSION_NUMERIC >= 40300
     return std::static_pointer_cast<gtsam::NonlinearFactor>(
 #else
     return boost::static_pointer_cast<gtsam::NonlinearFactor>(
@@ -228,7 +228,7 @@ class Pose3GravityFactor: public NoiseModelFactor1<Pose3>,
 
   /** vector of errors */
   virtual Vector evaluateError(const Pose3& nTb, //
-#if GTSAM_VERSION_MAJOR > 4 || (GTSAM_VERSION_MAJOR == 4 && GTSAM_VERSION_MINOR >= 3)
+#if GTSAM_VERSION_NUMERIC >= 40300
       OptionalMatrixType H = OptionalNone) const {
 #else
       boost::optional<Matrix&> H = boost::none) const {
@@ -249,7 +249,7 @@ class Pose3GravityFactor: public NoiseModelFactor1<Pose3>,
   }
 
 private:
-#if defined(GTSAM_ENABLE_BOOST_SERIALIZATION) || GTSAM_VERSION_MAJOR < 4 || (GTSAM_VERSION_MAJOR == 4 && GTSAM_VERSION_MINOR < 3)
+#if defined(GTSAM_ENABLE_BOOST_SERIALIZATION) || GTSAM_VERSION_NUMERIC < 40300
   /** Serialization function */
   friend class boost::serialization::access;
   template<class ARCHIVE>
diff --git a/corelib/src/optimizer/gtsam/XYFactor.h b/corelib/src/optimizer/gtsam/XYFactor.h
index c4afd3a989..8a7c65585c 100644
--- a/corelib/src/optimizer/gtsam/XYFactor.h
+++ b/corelib/src/optimizer/gtsam/XYFactor.h
@@ -42,7 +42,7 @@ class XYFactor: public gtsam::NoiseModelFactor1<VALUE> {
   // @param p    the pose in Pose2
   // @param H    the optional Jacobian matrix, which use boost optional and has default null pointer
   gtsam::Vector evaluateError(const VALUE& p,
-#if GTSAM_VERSION_MAJOR > 4 || (GTSAM_VERSION_MAJOR == 4 && GTSAM_VERSION_MINOR >= 3)
+#if GTSAM_VERSION_NUMERIC >= 40300
 		  OptionalMatrixType H = OptionalNone) const {
 #else
 		  boost::optional<gtsam::Matrix&> H = boost::none) const {
diff --git a/corelib/src/optimizer/gtsam/XYZFactor.h b/corelib/src/optimizer/gtsam/XYZFactor.h
index 90b293a22f..42e55d0b83 100644
--- a/corelib/src/optimizer/gtsam/XYZFactor.h
+++ b/corelib/src/optimizer/gtsam/XYZFactor.h
@@ -42,7 +42,7 @@ class XYZFactor: public gtsam::NoiseModelFactor1<VALUE> {
   // @param p    the pose in Pose
   // @param H    the optional Jacobian matrix, which use boost optional and has default null pointer
   gtsam::Vector evaluateError(const gtsam::Pose3& p,
-#if GTSAM_VERSION_MAJOR > 4 || (GTSAM_VERSION_MAJOR == 4 && GTSAM_VERSION_MINOR >= 3)
+#if GTSAM_VERSION_NUMERIC >= 40300
 		  OptionalMatrixType H = OptionalNone) const {
 #else
 		  boost::optional<gtsam::Matrix&> H = boost::none) const {
@@ -54,7 +54,7 @@ class XYZFactor: public gtsam::NoiseModelFactor1<VALUE> {
     return (gtsam::Vector3() << p.x() - mx_, p.y() - my_, p.z() - mz_).finished();
   }
   gtsam::Vector evaluateError(const gtsam::Point3& p,
-#if GTSAM_VERSION_MAJOR > 4 || (GTSAM_VERSION_MAJOR == 4 && GTSAM_VERSION_MINOR >= 3)
+#if GTSAM_VERSION_NUMERIC >= 40300
 		  OptionalMatrixType H = OptionalNone) const {
 #else
 		  boost::optional<gtsam::Matrix&> H = boost::none) const {
diff --git a/corelib/src/optimizer/vertigo/gtsam/DerivedValue.h b/corelib/src/optimizer/vertigo/gtsam/DerivedValue.h
index 20cd2849d3..ea502a4c6a 100644
--- a/corelib/src/optimizer/vertigo/gtsam/DerivedValue.h
+++ b/corelib/src/optimizer/vertigo/gtsam/DerivedValue.h
@@ -72,7 +72,7 @@ class DerivedValue : public gtsam::Value {
   /**
    * Clone this value (normal clone on the heap, delete with 'delete' operator)
    */
-#if GTSAM_VERSION_MAJOR > 4 || (GTSAM_VERSION_MAJOR == 4 && GTSAM_VERSION_MINOR >= 3)
+#if GTSAM_VERSION_NUMERIC >= 40300
   virtual std::shared_ptr<gtsam::Value> clone() const {
     return std::make_shared<DERIVED>(static_cast<const DERIVED&>(*this));
   }
diff --git a/corelib/src/optimizer/vertigo/gtsam/betweenFactorMaxMix.h b/corelib/src/optimizer/vertigo/gtsam/betweenFactorMaxMix.h
index 0ee996f64f..40538fc0f0 100644
--- a/corelib/src/optimizer/vertigo/gtsam/betweenFactorMaxMix.h
+++ b/corelib/src/optimizer/vertigo/gtsam/betweenFactorMaxMix.h
@@ -12,7 +12,7 @@
 #include <Eigen/Eigen>
 #include <gtsam/config.h>
 
-#if GTSAM_VERSION_MAJOR > 4 || (GTSAM_VERSION_MAJOR==4 && GTSAM_VERSION_MINOR>=1)
+#if GTSAM_VERSION_NUMERIC >= 40100
 namespace gtsam {
 gtsam::Matrix inverse(const gtsam::Matrix & matrix)
 {
@@ -49,7 +49,7 @@ namespace vertigo {
           double nu1 = 1.0/sqrt(gtsam::inverse(info1).determinant());
           double l1 = nu1 * exp(-0.5*m1);
 
-#if GTSAM_VERSION_MAJOR > 4 || (GTSAM_VERSION_MAJOR==4 && GTSAM_VERSION_MINOR>=1)
+#if GTSAM_VERSION_NUMERIC >= 40100
           double m2 = nullHypothesisModel->squaredMahalanobisDistance(error);
 #else
           double m2 = nullHypothesisModel->distance(error);
diff --git a/corelib/src/optimizer/vertigo/gtsam/betweenFactorSwitchable.h b/corelib/src/optimizer/vertigo/gtsam/betweenFactorSwitchable.h
index 0bc35cc136..de1b4d7364 100644
--- a/corelib/src/optimizer/vertigo/gtsam/betweenFactorSwitchable.h
+++ b/corelib/src/optimizer/vertigo/gtsam/betweenFactorSwitchable.h
@@ -30,7 +30,7 @@ namespace vertigo {
         betweenFactor(key1, key2, measured, model) {};
 
       gtsam::Vector evaluateError(const VALUE& p1, const VALUE& p2, const SwitchVariableLinear& s,
-#if GTSAM_VERSION_MAJOR > 4 || (GTSAM_VERSION_MAJOR == 4 && GTSAM_VERSION_MINOR >= 3)
+#if GTSAM_VERSION_NUMERIC >= 40300
 		  OptionalMatrixType H1 = OptionalNone,
 		  OptionalMatrixType H2 = OptionalNone,
 		  OptionalMatrixType H3 = OptionalNone) const
@@ -70,7 +70,7 @@ namespace vertigo {
         betweenFactor(key1, key2, measured, model) {};
 
       gtsam::Vector evaluateError(const VALUE& p1, const VALUE& p2, const SwitchVariableSigmoid& s,
-#if GTSAM_VERSION_MAJOR > 4 || (GTSAM_VERSION_MAJOR == 4 && GTSAM_VERSION_MINOR >= 3)
+#if GTSAM_VERSION_NUMERIC >= 40300
 		  OptionalMatrixType H1 = OptionalNone,
 		  OptionalMatrixType H2 = OptionalNone,
 		  OptionalMatrixType H3 = OptionalNone) const
diff --git a/corelib/src/optimizer/vertigo/gtsam/switchVariableLinear.h b/corelib/src/optimizer/vertigo/gtsam/switchVariableLinear.h
index f6282d67dd..e95e0b568b 100644
--- a/corelib/src/optimizer/vertigo/gtsam/switchVariableLinear.h
+++ b/corelib/src/optimizer/vertigo/gtsam/switchVariableLinear.h
@@ -76,7 +76,7 @@ namespace vertigo {
 
     /** between operation */
     inline SwitchVariableLinear between(const SwitchVariableLinear& l2,
-#if GTSAM_VERSION_MAJOR > 4 || (GTSAM_VERSION_MAJOR == 4 && GTSAM_VERSION_MINOR >= 3)
+#if GTSAM_VERSION_NUMERIC >= 40300
 		OptionalMatrixType H1=OptionalNone,
 		OptionalMatrixType H2=OptionalNone) const {
 #else
@@ -121,7 +121,7 @@ template<> struct traits<vertigo::SwitchVariableLinear> {
   typedef OptionalJacobian<3, 3> ChartJacobian;
   typedef gtsam::Vector TangentVector;
   static TangentVector Local(const vertigo::SwitchVariableLinear& origin, const vertigo::SwitchVariableLinear& other,
-#if GTSAM_VERSION_MAJOR > 4 || (GTSAM_VERSION_MAJOR == 4 && GTSAM_VERSION_MINOR >= 3)
+#if GTSAM_VERSION_NUMERIC >= 40300
       ChartJacobian Horigin = {}, ChartJacobian Hother = {}) {
 #else
       ChartJacobian Horigin = boost::none, ChartJacobian Hother = boost::none) {
@@ -129,7 +129,7 @@ template<> struct traits<vertigo::SwitchVariableLinear> {
     return origin.localCoordinates(other);
   }
   static vertigo::SwitchVariableLinear Retract(const vertigo::SwitchVariableLinear& g, const TangentVector& v,
-#if GTSAM_VERSION_MAJOR > 4 || (GTSAM_VERSION_MAJOR == 4 && GTSAM_VERSION_MINOR >= 3)
+#if GTSAM_VERSION_NUMERIC >= 40300
       ChartJacobian H1 = {}, ChartJacobian H2 = {}) {
 #else
       ChartJacobian H1 = boost::none, ChartJacobian H2 = boost::none) {
diff --git a/corelib/src/optimizer/vertigo/gtsam/switchVariableSigmoid.h b/corelib/src/optimizer/vertigo/gtsam/switchVariableSigmoid.h
index 5cc69c34a0..79e1fca99d 100644
--- a/corelib/src/optimizer/vertigo/gtsam/switchVariableSigmoid.h
+++ b/corelib/src/optimizer/vertigo/gtsam/switchVariableSigmoid.h
@@ -76,7 +76,7 @@ namespace vertigo {
 
     /** between operation */
     inline SwitchVariableSigmoid between(const SwitchVariableSigmoid& l2,
-#if GTSAM_VERSION_MAJOR > 4 || (GTSAM_VERSION_MAJOR == 4 && GTSAM_VERSION_MINOR >= 3)
+#if GTSAM_VERSION_NUMERIC >= 40300
         OptionalMatrixType H1=OptionalNone,
 		OptionalMatrixType H2=OptionalNone) const {
 #else
@@ -122,7 +122,7 @@ template<> struct traits<vertigo::SwitchVariableSigmoid> {
   typedef OptionalJacobian<3, 3> ChartJacobian;
   typedef gtsam::Vector TangentVector;
   static TangentVector Local(const vertigo::SwitchVariableSigmoid& origin, const vertigo::SwitchVariableSigmoid& other,
-#if GTSAM_VERSION_MAJOR > 4 || (GTSAM_VERSION_MAJOR == 4 && GTSAM_VERSION_MINOR >= 3)
+#if GTSAM_VERSION_NUMERIC >= 40300
 	  ChartJacobian Horigin = {}, ChartJacobian Hother = {}) {
 #else
 	  ChartJacobian Horigin = boost::none, ChartJacobian Hother = boost::none) {
@@ -130,7 +130,7 @@ template<> struct traits<vertigo::SwitchVariableSigmoid> {
     return origin.localCoordinates(other);
   }
   static vertigo::SwitchVariableSigmoid Retract(const vertigo::SwitchVariableSigmoid& g, const TangentVector& v,
-#if GTSAM_VERSION_MAJOR > 4 || (GTSAM_VERSION_MAJOR == 4 && GTSAM_VERSION_MINOR >= 3)
+#if GTSAM_VERSION_NUMERIC >= 40300
         ChartJacobian H1 = {}, ChartJacobian H2 = {}) {
 #else
         ChartJacobian H1 = boost::none, ChartJacobian H2 = boost::none) {