diff --git a/modules/v4d/CMakeLists.txt b/modules/v4d/CMakeLists.txt
index 74e63c4e0..6e4f96ba6 100755
--- a/modules/v4d/CMakeLists.txt
+++ b/modules/v4d/CMakeLists.txt
@@ -1,3 +1,5 @@
+cmake_policy(SET CMP0079 NEW)
+
 if(NOT EMSCRIPTEN)
   find_package(glfw3 3 REQUIRED)
   find_package(OpenCL REQUIRED)
@@ -32,7 +34,7 @@ macro(add_binary_sample sample source)
     #add_executable(${sample} ${source})
     # ocv_target_include_modules(${sample} opencv_core opencv_imgproc opencv_videoio opencv_video opencv_imgcodecs opencv_v4d opencv_face opencv_tracking opencv_objdetect opencv_stitching opencv_optflow opencv_imgcodecs opencv_features2d opencv_dnn  opencv_flann)
     # ocv_target_link_libraries(${sample} LINK_PRIVATE opencv_core opencv_imgproc opencv_videoio opencv_video opencv_imgcodecs opencv_v4d opencv_face opencv_tracking opencv_objdetect opencv_stitching opencv_optflow opencv_imgcodecs opencv_features2d opencv_dnn opencv_flann bgfx-shared-libRelease)
-    ocv_target_link_libraries(${sample} glfw imgui_v4d opencv_v4d)
+    ocv_target_link_libraries(${sample} OpenGL::OpenGL glfw imgui_v4d opencv_v4d)
     target_compile_features(${sample} PRIVATE cxx_std_20)
     target_link_directories(${sample} PRIVATE "${CMAKE_CURRENT_BINARY_DIR}/../../lib" "${CMAKE_CURRENT_SOURCE_DIR}/third/bgfx/.build/linux64_gcc/bin/")
     target_include_directories(${sample} PRIVATE "${CMAKE_CURRENT_SOURCE_DIR}/include/opencv2/v4d/detail/" "${CMAKE_CURRENT_SOURCE_DIR}/third/imgui" "${CMAKE_CURRENT_SOURCE_DIR}/third/imgui/backends/" "${CMAKE_CURRENT_SOURCE_DIR}/third/nanovg/src/" "${CMAKE_CURRENT_SOURCE_DIR}/third/glad/include/")
@@ -95,22 +97,34 @@ endif()
 if (NOT (TARGET nanovg))
   set(NANOVG_BUILD_EXAMPLES OFF)
   set(NANOVG_BUILD_GL2 OFF)
-  set(NANOVG_BUILD_GL3 ON)
+  if(OPENCV_V4D_ENABLE_ES3)
+    set(NANOVG_BUILD_GL3 OFF)
+    set(NANOVG_BUILD_GLES3 ON)
+  else()
+    set(NANOVG_BUILD_GL3 ON)
+    set(NANOVG_BUILD_GLES3 OFF)
+  endif()
   set(NANOVG_BUILD_GLES2 OFF)
-  set(NANOVG_BUILD_GLES3 OFF)
   set(NANOVG_BUILD_OUI OFF)
   set(NANOVG_BUILD_SVG OFF)
   set(NANOVG_SHARED_LIBS ON)
   set(NANOVG_STATIC_LIBS OFF)
   set(NANOVG_USE_FREETYPE OFF)
   set(NANOVG_USE_STB ON)
-  set(CMAKE_CXX_FLAGS "-Wno-error -DNANOVG_GL3")
-  set(CMAKE_C_FLAGS "-Wno-error -DNANOVG_GL3")
+  set(CMAKE_CXX_FLAGS "-Wno-error")
+  set(CMAKE_C_FLAGS "-Wno-error")
   add_subdirectory("${CMAKE_CURRENT_SOURCE_DIR}/third/nanovg/")
+  if(OPENCV_V4D_ENABLE_ES3)
+    target_compile_definitions(nanovg PUBLIC "NANOVG_GLES3")
+    target_link_libraries(nanovg OpenGL::GLES3)
+  else()
+    target_compile_definitions(nanovg PUBLIC "NANOVG_GL3")
+    target_link_libraries(nanovg OpenGL::OpenGL)
+  endif()
   include_directories("${CMAKE_CURRENT_SOURCE_DIR}/third/nanovg/src/")
-  target_compile_definitions(nanovg PUBLIC "NANOVG_GL3")
 endif()
 
+
 if (NOT (TARGET imgui_v4d))
   file(GLOB imgui_sources CONFIGURE_DEPENDS "${CMAKE_CURRENT_SOURCE_DIR}/third/imgui/*.cpp")
   file(GLOB imgui_backend_sources CONFIGURE_DEPENDS "${CMAKE_CURRENT_SOURCE_DIR}/third/imgui/backends/imgui_impl_opengl3*.cpp")
@@ -119,7 +133,8 @@ if (NOT (TARGET imgui_v4d))
   include_directories("${CMAKE_CURRENT_SOURCE_DIR}/third/imgui/")
 endif()
 install(TARGETS imgui_v4d EXPORT )
-cmake_policy(SET CMP0079 NEW)
+
+
 
 
 ocv_add_module(v4d opencv_core opencv_imgproc opencv_videoio opencv_video)
diff --git a/modules/v4d/include/opencv2/v4d/v4d.hpp b/modules/v4d/include/opencv2/v4d/v4d.hpp
index 6485f516c..76851fc76 100644
--- a/modules/v4d/include/opencv2/v4d/v4d.hpp
+++ b/modules/v4d/include/opencv2/v4d/v4d.hpp
@@ -19,14 +19,28 @@
     io.ConfigFlags |= ImGuiConfigFlags_NavEnableGamepad; \
     ImGui::StyleColorsDark(); \
     ImGui_ImplGlfw_InitForOpenGL(v4d->getGLFWWindow(), install_hooks); \
-    ImGui_ImplOpenGL3_Init(); \
+    ImGui_ImplOpenGL3_Init("#version 330"); \
 })
+#else
+#   define V4D_INIT_PRIVATE(v4d, install_hooks) ({ \
+    FrameBufferContext::GLScope glScope(v4d->fbCtx(), GL_FRAMEBUFFER); \
+    IMGUI_CHECKVERSION(); \
+    ImGui::CreateContext();  \
+    ImGuiIO& io = ImGui::GetIO(); \
+    (void)io; \
+    io.ConfigFlags |= ImGuiConfigFlags_NavEnableKeyboard; \
+    io.ConfigFlags |= ImGuiConfigFlags_NavEnableGamepad; \
+    ImGui::StyleColorsDark(); \
+    ImGui_ImplGlfw_InitForOpenGL(v4d->getGLFWWindow(), install_hooks); \
+    ImGui_ImplOpenGL3_Init("#version 300 es"); \
+})
+#endif
 #   define V4D_INIT_MAIN(w, h, title, offscreen, debug, samples) ({ \
     cv::Ptr<cv::v4d::V4D> v4d = cv::v4d::V4D::make(cv::Size(w, h), cv::Size(), title, offscreen, debug, samples); \
     V4D_INIT_PRIVATE(v4d, true); \
     v4d; \
     })
-#endif
+
 #ifdef __EMSCRIPTEN__
 #include <emscripten.h>
 #include <emscripten/threading.h>
diff --git a/modules/v4d/samples/cube-demo.cpp b/modules/v4d/samples/cube-demo.cpp
index 793a05536..0a25ab8ea 100644
--- a/modules/v4d/samples/cube-demo.cpp
+++ b/modules/v4d/samples/cube-demo.cpp
@@ -251,7 +251,7 @@ int main() {
 
 #ifndef __EMSCRIPTEN__
     //Creates a writer sink using the VP9 codec (which might be hardware accelerated)
-    Sink sink = makeWriterSink(OUTPUT_FILENAME, cv::VideoWriter::fourcc('H', '2', '6', '4'), FPS,
+    Sink sink = makeWriterSink(OUTPUT_FILENAME, cv::VideoWriter::fourcc('V', 'P', '9', '0'), FPS,
             cv::Size(WIDTH, HEIGHT));
     window->setSink(sink);
 #endif
diff --git a/modules/v4d/src/detail/imguicontext.cpp b/modules/v4d/src/detail/imguicontext.cpp
index 5dd1f79c3..8c1de25a1 100644
--- a/modules/v4d/src/detail/imguicontext.cpp
+++ b/modules/v4d/src/detail/imguicontext.cpp
@@ -5,14 +5,17 @@
 
 #include "opencv2/v4d/v4d.hpp"
 #include "opencv2/v4d/detail/imguicontext.hpp"
-#include "imgui.h"
-#include "imgui_impl_glfw.h"
-#include "imgui_impl_opengl3.h"
+
+
 #include <stdio.h>
-#define GL_SILENCE_DEPRECATION
 #if defined(OPENCV_V4D_USE_ES3) || defined(EMSCRIPTEN)
-#include <GLES3/gl3.h>
+#   define IMGUI_IMPL_OPENGL_ES3
+//#   include <GLES3/gl3.h>
 #endif
+
+#include "imgui.h"
+#include "imgui_impl_glfw.h"
+#include "imgui_impl_opengl3.h"
 #include <GLFW/glfw3.h>
 
 namespace cv {
@@ -28,7 +31,6 @@ ImGuiContext::ImGuiContext(FrameBufferContext& fbContext) :
 #endif
 }
 
-
 void ImGuiContext::build(std::function<void(const cv::Size&)> fn) {
     renderCallback_ = fn;
 }
@@ -46,7 +48,9 @@ void ImGuiContext::render() {
         {
             fbCtx().getV4D()->makeCurrent();
             GL_CHECK(glBindFramebuffer(GL_FRAMEBUFFER, 0));
+#if !defined(OPENCV_V4D_USE_ES3) && !defined(EMSCRIPTEN)
             GL_CHECK(glDrawBuffer(GL_BACK));
+#endif
             GL_CHECK(glViewport(0, 0, fbCtx().getV4D()->size().width, fbCtx().getV4D()->size().height));
             ImGui_ImplOpenGL3_NewFrame();
             ImGui_ImplGlfw_NewFrame();
diff --git a/modules/v4d/src/detail/nanovgcontext.cpp b/modules/v4d/src/detail/nanovgcontext.cpp
index 553337ae3..1963b1d8f 100644
--- a/modules/v4d/src/detail/nanovgcontext.cpp
+++ b/modules/v4d/src/detail/nanovgcontext.cpp
@@ -17,7 +17,11 @@ NanoVGContext::NanoVGContext(FrameBufferContext& fbContext) :
     run_sync_on_main<13>([this]() {
         {
             FrameBufferContext::GLScope glScope(fbCtx(), GL_FRAMEBUFFER);
+#if defined(OPENCV_V4D_USE_ES3)
+            context_ = nvgCreateGLES3(NVG_ANTIALIAS | NVG_STENCIL_STROKES | NVG_DEBUG);
+#else
             context_ = nvgCreateGL3(NVG_ANTIALIAS | NVG_STENCIL_STROKES | NVG_DEBUG);
+#endif
             if (!context_)
                 throw std::runtime_error("Could not initialize NanoVG!");
         }