diff --git a/modules/v4d/CMakeLists.txt b/modules/v4d/CMakeLists.txt
index 73e67258f..e35f7bf9b 100644
--- a/modules/v4d/CMakeLists.txt
+++ b/modules/v4d/CMakeLists.txt
@@ -12,9 +12,9 @@ if (${idx} LESS 0)
   message(STATUS "Module opencv_v4d disabled because it requires C++20")
   ocv_module_disable(v4d)
 endif()
-set(CMAKE_CXX_FLAGS "${CMAKE_LD_FLAGS} -L../../lib")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -L../../lib")
 
-OCV_OPTION(OPENCV_V4D_ENABLE_ES3 "Enable OpenGL ES 3.0 backend for V4D" OFF
+OCV_OPTION(OPENCV_V4D_ENABLE_ES2 "Enable OpenGL ES 2.0 backend for V4D" OFF
   VERIFY HAVE_OPENGL)
 
 find_package(Git QUIET)
@@ -60,6 +60,15 @@ endif()
 
 set(NANOGUI_BUILD_SHARED ON)
 set(NANOGUI_BUILD_PYTHON OFF)
+set(NANOGUI_BUILD_EXAMPLES OFF)
+
+if(OPENCV_V4D_ENABLE_ES2)
+  set(NANOGUI_BACKEND "GLES 2")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DOPENCV_V4D_USE_ES2=1")
+else()
+  set(NANOGUI_BACKEND "OpenGL")
+endif()
+
 add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/third/nanogui)
 
 add_library(nanovg "third/nanogui/ext/nanovg/src/nanovg.c")
diff --git a/modules/v4d/include/opencv2/v4d/dialog.hpp b/modules/v4d/include/opencv2/v4d/dialog.hpp
index f2e79b258..84423f2d8 100644
--- a/modules/v4d/include/opencv2/v4d/dialog.hpp
+++ b/modules/v4d/include/opencv2/v4d/dialog.hpp
@@ -6,7 +6,7 @@
 #ifndef SRC_OPENCV_V4D_DIALOG_HPP_
 #define SRC_OPENCV_V4D_DIALOG_HPP_
 #ifdef __EMSCRIPTEN__
-#define OPENCV_V4D_USE_ES3 1
+#define OPENCV_V4D_USE_ES2 1
 #endif
 
 #include <nanogui/nanogui.h>
diff --git a/modules/v4d/include/opencv2/v4d/nvg.hpp b/modules/v4d/include/opencv2/v4d/nvg.hpp
index 045c1a220..398b1ec1a 100644
--- a/modules/v4d/include/opencv2/v4d/nvg.hpp
+++ b/modules/v4d/include/opencv2/v4d/nvg.hpp
@@ -7,14 +7,14 @@
 #define SRC_OPENCV_V4D_NVG_HPP_
 
 #include "v4d.hpp"
-#ifndef OPENCV_V4D_USE_ES3
+#ifndef OPENCV_V4D_USE_ES2
 #  ifndef NANOGUI_USE_OPENGL
 #    define NANOGUI_USE_OPENGL
 #  endif
 #else
 #  ifndef NANOGUI_USE_GLES
 #    define NANOGUI_USE_GLES
-#    define NANOGUI_GLES_VERSION 3
+#    define NANOGUI_GLES_VERSION 2
 #  endif
 #endif
 #include <nanogui/opengl.h>
diff --git a/modules/v4d/include/opencv2/v4d/v4d.hpp b/modules/v4d/include/opencv2/v4d/v4d.hpp
index 446782de2..dd305587f 100644
--- a/modules/v4d/include/opencv2/v4d/v4d.hpp
+++ b/modules/v4d/include/opencv2/v4d/v4d.hpp
@@ -21,12 +21,12 @@
 
 #include "cxxpool.hpp"
 #ifdef __EMSCRIPTEN__
-#define OPENCV_V4D_USE_ES3 1
+#define OPENCV_V4D_USE_ES2 1
 #include <emscripten.h>
 #endif
 
 #include <nanogui/nanogui.h>
-#ifndef OPENCV_V4D_USE_ES3
+#ifndef OPENCV_V4D_USE_ES2
 #include <GL/glew.h>
 #else
 #include <GLES3/gl3.h>
diff --git a/modules/v4d/samples/shader/shader-demo.cpp b/modules/v4d/samples/shader/shader-demo.cpp
index 92eb99dd0..4fce9b0fe 100644
--- a/modules/v4d/samples/shader/shader-demo.cpp
+++ b/modules/v4d/samples/shader/shader-demo.cpp
@@ -44,7 +44,7 @@ GLint zoom_hdl;
 /** shader and program handle **/
 GLuint shader_program_hdl;
 
-#ifndef OPENCV_V4D_USE_ES3
+#ifndef OPENCV_V4D_USE_ES2
 //vertex array
 GLuint VAO;
 #endif
@@ -71,7 +71,7 @@ unsigned int indices[] =
 
 void load_buffer_data(){
 
-#ifndef OPENCV_V4D_USE_ES3
+#ifndef OPENCV_V4D_USE_ES2
     glGenVertexArrays(1, &VAO);
     glBindVertexArray(VAO);
 #endif
@@ -89,7 +89,7 @@ void load_buffer_data(){
     glEnableVertexAttribArray(0);
 
     glBindBuffer(GL_ARRAY_BUFFER, 0);
-#ifndef OPENCV_V4D_USE_ES3
+#ifndef OPENCV_V4D_USE_ES2
     glBindVertexArray(0);
 #endif
 }
@@ -141,7 +141,7 @@ GLuint init_shader(const char* vShader, const char* fShader, const char* outputA
 
         glAttachShader( program, shader );
     }
-#ifndef OPENCV_V4D_USE_ES3
+#ifndef OPENCV_V4D_USE_ES2
     /* Link output */
     glBindFragDataLocation(program, 0, outputAttributeName);
 #endif
@@ -170,7 +170,7 @@ GLuint init_shader(const char* vShader, const char* fShader, const char* outputA
 
 //mandelbrot shader code adapted from my own project: https://github.com/kallaballa/FractalDive#after
 void load_shader(){
-#ifndef OPENCV_V4D_USE_ES3
+#ifndef OPENCV_V4D_USE_ES2
     const string shaderVersion = "330";
 #else
     const string shaderVersion = "300 es";
@@ -293,7 +293,7 @@ void render_scene(const cv::Size& sz) {
         glUniform1f(zoom_hdl, zoom);
     }
 
-#ifndef OPENCV_V4D_USE_ES3
+#ifndef OPENCV_V4D_USE_ES2
     glBindVertexArray(VAO);
 #endif
     glDrawElements(GL_TRIANGLES, 6, GL_UNSIGNED_INT, 0);
diff --git a/modules/v4d/samples/tetra/tetra-demo.cpp b/modules/v4d/samples/tetra/tetra-demo.cpp
index 8e6e43a3c..be9da493d 100644
--- a/modules/v4d/samples/tetra/tetra-demo.cpp
+++ b/modules/v4d/samples/tetra/tetra-demo.cpp
@@ -20,7 +20,7 @@ using std::endl;
 static cv::Ptr<cv::viz::V4D> v4d = cv::viz::V4D::make(cv::Size(WIDTH, HEIGHT), cv::Size(WIDTH, HEIGHT), OFFSCREEN, "Tetra Demo");
 
 void init_scene(const cv::Size& sz) {
-#ifndef OPENCV_V4D_USE_ES3
+#ifndef OPENCV_V4D_USE_ES2
     //Initialize the OpenGL scene
     glViewport(0, 0, sz.width, sz.height);
     glColor3f(1.0, 1.0, 1.0);
@@ -41,7 +41,7 @@ void init_scene(const cv::Size& sz) {
 }
 
 void render_scene(const cv::Size& sz) {
-#ifndef OPENCV_V4D_USE_ES3
+#ifndef OPENCV_V4D_USE_ES2
     //Render a tetrahedron using immediate mode because the code is more concise for a demo
     glViewport(0, 0, sz.width, sz.height);
     glRotatef(1, 0, 1, 0);
diff --git a/modules/v4d/samples/video/video-demo.cpp b/modules/v4d/samples/video/video-demo.cpp
index 6da2c0d1b..83bbc2b95 100644
--- a/modules/v4d/samples/video/video-demo.cpp
+++ b/modules/v4d/samples/video/video-demo.cpp
@@ -21,7 +21,7 @@ using std::string;
 static cv::Ptr<cv::viz::V4D> v4d = cv::viz::V4D::make(cv::Size(WIDTH, HEIGHT), cv::Size(WIDTH, HEIGHT), OFFSCREEN, "Video Demo");
 
 void init_scene(const cv::Size& sz) {
-#ifndef OPENCV_V4D_USE_ES3
+#ifndef OPENCV_V4D_USE_ES2
     //Initialize the OpenGL scene
     glViewport(0, 0, sz.width, sz.height);
     glColor3f(1.0, 1.0, 1.0);
@@ -42,7 +42,7 @@ void init_scene(const cv::Size& sz) {
 }
 
 void render_scene(const cv::Size& sz) {
-#ifndef OPENCV_V4D_USE_ES3
+#ifndef OPENCV_V4D_USE_ES2
     //Render a tetrahedron using immediate mode because the code is more concise for a demo
     glViewport(0, 0, sz.width, sz.height);
     glRotatef(1, 0, 1, 0);
diff --git a/modules/v4d/src/detail/framebuffercontext.cpp b/modules/v4d/src/detail/framebuffercontext.cpp
index d2c327c05..196181eae 100644
--- a/modules/v4d/src/detail/framebuffercontext.cpp
+++ b/modules/v4d/src/detail/framebuffercontext.cpp
@@ -8,7 +8,7 @@
 #include "opencv2/v4d/util.hpp"
 #include "opencv2/v4d/v4d.hpp"
 
-#ifndef OPENCV_V4D_USE_ES3
+#ifndef OPENCV_V4D_USE_ES2
 #include <GL/glew.h>
 #endif
 
@@ -19,7 +19,7 @@ namespace detail {
 //FIXME use cv::ogl
 FrameBufferContext::FrameBufferContext(const cv::Size& frameBufferSize) :
         frameBufferSize_(frameBufferSize) {
-#ifndef OPENCV_V4D_USE_ES3
+#ifndef OPENCV_V4D_USE_ES2
     glewExperimental = true;
     glewInit();
     try {
diff --git a/modules/v4d/src/detail/framebuffercontext.hpp b/modules/v4d/src/detail/framebuffercontext.hpp
index 6489227d3..9ef32ff30 100644
--- a/modules/v4d/src/detail/framebuffercontext.hpp
+++ b/modules/v4d/src/detail/framebuffercontext.hpp
@@ -13,10 +13,10 @@
 #  include <CL/cl.h>
 #  include <CL/cl_gl.h>
 #else
-#  define OPENCV_V4D_USE_ES3 1
+#  define OPENCV_V4D_USE_ES2 1
 #endif
 
-#ifndef OPENCV_V4D_USE_ES3
+#ifndef OPENCV_V4D_USE_ES2
 #  include <GL/glew.h>
 #  define GLFW_INCLUDE_GLCOREARB
 #else
diff --git a/modules/v4d/src/detail/nanovgcontext.cpp b/modules/v4d/src/detail/nanovgcontext.cpp
index 70a9153f0..756e4542c 100644
--- a/modules/v4d/src/detail/nanovgcontext.cpp
+++ b/modules/v4d/src/detail/nanovgcontext.cpp
@@ -27,7 +27,7 @@ void NanoVGContext::render(std::function<void(const cv::Size&)> fn) {
 }
 
 void push() {
-#ifndef OPENCV_V4D_USE_ES3
+#ifndef OPENCV_V4D_USE_ES2
     GL_CHECK(glPushClientAttrib(GL_CLIENT_ALL_ATTRIB_BITS));
     GL_CHECK(glPushAttrib(GL_ALL_ATTRIB_BITS));
     GL_CHECK(glMatrixMode(GL_MODELVIEW));
@@ -40,7 +40,7 @@ void push() {
 }
 
 void pop() {
-#ifndef OPENCV_V4D_USE_ES3
+#ifndef OPENCV_V4D_USE_ES2
     GL_CHECK(glMatrixMode(GL_TEXTURE));
     GL_CHECK(glPopMatrix());
     GL_CHECK(glMatrixMode(GL_PROJECTION));
diff --git a/modules/v4d/src/detail/nanovgcontext.hpp b/modules/v4d/src/detail/nanovgcontext.hpp
index 7084f0011..f57ba1c24 100644
--- a/modules/v4d/src/detail/nanovgcontext.hpp
+++ b/modules/v4d/src/detail/nanovgcontext.hpp
@@ -8,11 +8,11 @@
 
 #include "framebuffercontext.hpp"
 #include <nanogui/nanogui.h>
-#ifndef OPENCV_V4D_USE_ES3
+#ifndef OPENCV_V4D_USE_ES2
 #define NANOGUI_USE_OPENGL
 #else
 #define NANOGUI_USE_GLES
-#define NANOGUI_GLES_VERSION 3
+#define NANOGUI_GLES_VERSION 2
 #endif
 
 #include <nanogui/opengl.h>
diff --git a/modules/v4d/src/dialog.cpp b/modules/v4d/src/dialog.cpp
index a774c0742..29e4c35c5 100644
--- a/modules/v4d/src/dialog.cpp
+++ b/modules/v4d/src/dialog.cpp
@@ -5,7 +5,7 @@
 
 #include "opencv2/v4d/dialog.hpp"
 #include <nanogui/layout.h>
-#ifndef OPENCV_V4D_USE_ES3
+#ifndef OPENCV_V4D_USE_ES2
 #  include <GL/glew.h>
 #  define GLFW_INCLUDE_GLCOREARB
 #else
diff --git a/modules/v4d/src/v4d.cpp b/modules/v4d/src/v4d.cpp
index 1481077f0..01810d4e2 100644
--- a/modules/v4d/src/v4d.cpp
+++ b/modules/v4d/src/v4d.cpp
@@ -124,7 +124,7 @@ bool V4D::initializeWindowing() {
     glfwWindowHint (GLFW_CONTEXT_VERSION_MINOR, 2);
     glfwWindowHint (GLFW_OPENGL_FORWARD_COMPAT, GL_TRUE);
     glfwWindowHint (GLFW_OPENGL_PROFILE, GLFW_OPENGL_CORE_PROFILE);
-#elif defined(OPENCV_V4D_USE_ES3)
+#elif defined(OPENCV_V4D_USE_ES2)
     glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 3);
     glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 0);
     glfwWindowHint(GLFW_CONTEXT_CREATION_API, GLFW_EGL_CONTEXT_API);