diff --git a/camtools/__init__.py b/camtools/__init__.py
index 13f2e92..39ec1a4 100644
--- a/camtools/__init__.py
+++ b/camtools/__init__.py
@@ -1,3 +1,5 @@
+import logging
+
 from . import artifact
 from . import camera
 from . import colmap
@@ -16,13 +18,42 @@
 from . import transform
 from . import util
 
+
+# Get package version for camtools
 try:
     # Python >= 3.8
     from importlib.metadata import version
 
-    __version__ = version("camtools")
+    def _get_package_version(package):
+        return version(package)
+
 except ImportError:
     # Python < 3.8
     import pkg_resources
 
-    __version__ = pkg_resources.get_distribution("camtools").version
+    def _get_package_version(package):
+        return pkg_resources.get_distribution(package).version
+
+
+__version__ = _get_package_version("camtools")
+
+
+# Check open3d and numpy compatibility
+try:
+    logging.basicConfig(format="%(message)s")
+    _logger = logging.getLogger(__name__)
+
+    o3d_version = _get_package_version("open3d")
+    np_version = _get_package_version("numpy")
+
+    o3d_version_tuple = tuple(map(int, o3d_version.split(".")[:2]))
+    np_version_tuple = tuple(map(int, np_version.split(".")[:2]))
+
+    if o3d_version_tuple < (0, 19) and np_version_tuple >= (2, 0):
+        _logger.warning(
+            f"[Warning] Incompatible versions: open3d {o3d_version} does "
+            f"not support numpy {np_version}. You may upgrade open3d to >= 0.19.0 "
+            f"or downgrade numpy to 1.x."
+        )
+except Exception as e:
+    pass