text: cmake_minimum_required(VERSION 2.8.3)
  project(opt_utils)
  set(CMAKE_BUILD_TYPE RelWithDebInfo)
  find_package(catkin REQUIRED COMPONENTS cmake_modules roscpp rosconsole image_transport cv_bridge opt_msgs)
  find_package(OpenCV REQUIRED)
  include_directories(${OpenCV_INCLUDE_DIRS})
  link_directories(${OpenCV_LIB_DIR})
  
  find_package(Eigen REQUIRED)
  include_directories(${Eigen_INCLUDE_DIRS} include ${catkin_INCLUDE_DIRS})
  
  add_library(json src/json.cpp)
  target_link_libraries(json ${catkin_LIBRARIES})
  
  catkin_package(
     INCLUDE_DIRS include
     LIBRARIES ${PROJECT_NAME} json
     CATKIN_DEPENDS roscpp
  )
  
  add_library(${PROJECT_NAME} src/conversions.cpp)
  target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
  
  add_executable(roi_viewer apps/roi_viewer.cpp)
  target_link_libraries(roi_viewer boost_system boost_filesystem boost_signals ${PROJECT_NAME} ${catkin_LIBRARIES} ${OpenCV_LIBS})
  
  #add_executable(tracking_viewer apps/tracking_viewer.cpp)
  #target_link_libraries(tracking_viewer boost_system boost_filesystem boost_signals ${PROJECT_NAME} ${catkin_LIBRARIES} ${OpenCV_LIBS})
  
  add_executable(ros2udp_converter apps/ros2udp_converter.cpp src/udp_messaging.cpp)# src/json.cpp)
  target_link_libraries(ros2udp_converter ${catkin_LIBRARIES} json)
  
  add_executable(udp_listener apps/udp_listener.cpp src/udp_messaging.cpp)
  target_link_libraries(udp_listener ${catkin_LIBRARIES})
  