diff --git a/intra_process_demo/include/image_pipeline/camera_node.hpp b/intra_process_demo/include/image_pipeline/camera_node.hpp
index 66d2b4e7f..c5e0109c5 100644
--- a/intra_process_demo/include/image_pipeline/camera_node.hpp
+++ b/intra_process_demo/include/image_pipeline/camera_node.hpp
@@ -47,14 +47,8 @@ class CameraNode final : public rclcpp::Node
   {
     // Initialize OpenCV
     cap_.open(device);
-    // TODO(jacobperron): Remove pre-compiler check when we drop support for Xenial
-#if CV_MAJOR_VERSION < 3
-    cap_.set(CV_CAP_PROP_FRAME_WIDTH, static_cast<double>(width));
-    cap_.set(CV_CAP_PROP_FRAME_HEIGHT, static_cast<double>(height));
-#else
     cap_.set(cv::CAP_PROP_FRAME_WIDTH, static_cast<double>(width));
     cap_.set(cv::CAP_PROP_FRAME_HEIGHT, static_cast<double>(height));
-#endif
     if (!cap_.isOpened()) {
       throw std::runtime_error("Could not open video stream!");
     }