Avoid linking both OpenCV2.4 and OpenCV3.0 with cmake - opencv

Question

I have 2 opencv installation (in separate location). One is installed with apt-get (version 2.4). While another is version 3.0 installed from source code.
I notice that my catkin_make (cmake) links both opencv2.4 and opencv3.0
[ri-desktop2 robotic_vision]$ ldd devel/lib/visensor_dgem/dgem
linux-vdso.so.1 => (0x00007ffd30f5e000)
libcv_bridge.so => /opt/ros/jade/lib/libcv_bridge.so (0x00007f7eb7fa8000)
libopencv_highgui.so.2.4 => /usr/lib/x86_64-linux-gnu/libopencv_highgui.so.2.4 (0x00007f7eb7d5d000)
libopencv_core.so.2.4 => /usr/lib/x86_64-linux-gnu/libopencv_core.so.2.4 (0x00007f7eb7926000)
libroscpp.so => /opt/ros/jade/lib/libroscpp.so (0x00007f7eb75d3000)
libroscpp_serialization.so => /opt/ros/jade/lib/libroscpp_serialization.so (0x00007f7eb73d0000)
librosconsole.so => /opt/ros/jade/lib/librosconsole.so (0x00007f7eb71a7000)
librostime.so => /opt/ros/jade/lib/librostime.so (0x00007f7eb6f7d000)
libboost_system.so.1.54.0 => /usr/lib/x86_64-linux-gnu/libboost_system.so.1.54.0 (0x00007f7eb6d79000)
libpthread.so.0 => /lib/x86_64-linux-gnu/libpthread.so.0 (0x00007f7eb6b5b000)
libopencv_core.so.3.0 => /usr/local/lib/libopencv_core.so.3.0 (0x00007f7eb5b1b000)
libopencv_highgui.so.3.0 => /usr/local/lib/libopencv_highgui.so.3.0 (0x00007f7eb58dd000)
libopencv_imgproc.so.3.0 => /usr/local/lib/libopencv_imgproc.so.3.0 (0x00007f7eb4941000)
libstdc++.so.6 => /usr/lib/x86_64-linux-gnu/libstdc++.so.6 (0x00007f7eb463d000)
libgcc_s.so.1 => /lib/x86_64-linux-gnu/libgcc_s.so.1 (0x00007f7eb4427000)
libc.so.6 => /lib/x86_64-linux-gnu/libc.so.6 (0x00007f7eb4062000)
libopencv_imgproc.so.2.4 => /usr/lib/x86_64-linux-gnu/libopencv_imgproc.so.2.4 (0x00007f7eb3bd2000)
libGL.so.1 => /usr/lib/nvidia-352/libGL.so.1 (0x00007f7eb38a2000)
libjpeg.so.8 => /usr/lib/x86_64-linux-gnu/libjpeg.so.8 (0x00007f7eb364d000)
libpng12.so.0 => /lib/x86_64-linux-gnu/libpng12.so.0 (0x00007f7eb3427000)
libtiff.so.5 => /usr/lib/x86_64-linux-gnu/libtiff.so.5 (0x00007f7eb31b5000)
libjasper.so.1 => /usr/lib/x86_64-linux-gnu/libjasper.so.1 (0x00007f7eb2f5e000)
libIlmImf.so.6 => /usr/lib/x86_64-linux-gnu/libIlmImf.so.6 (0x00007f7eb2caf000)
libHalf.so.6 => /usr/lib/x86_64-linux-gnu/libHalf.so.6 (0x00007f7eb2a6c000)
libgtk-x11-2.0.so.0 => /usr/lib/x86_64-linux-gnu/libgtk-x11-2.0.so.0 (0x00007f7eb242f000)
libgdk-x11-2.0.so.0 => /usr/lib/x86_64-linux-gnu/libgdk-x11-2.0.so.0 (0x00007f7eb217c000)
libgobject-2.0.so.0 => /usr/lib/x86_64-linux-gnu/libgobject-2.0.so.0 (0x00007f7eb1f2b000)
libglib-2.0.so.0 => /lib/x86_64-linux-gnu/libglib-2.0.so.0 (0x00007f7eb1c23000)
libgtkglext-x11-1.0.so.0 => /usr/lib/libgtkglext-x11-1.0.so.0 (0x00007f7eb1a1f000)
libgdkglext-x11-1.0.so.0 => /usr/lib/libgdkglext-x11-1.0.so.0 (0x00007f7eb17bb000)
libdc1394.so.22 => /usr/lib/x86_64-linux-gnu/libdc1394.so.22 (0x00007f7eb1547000)
libv4l1.so.0 => /usr/lib/x86_64-linux-gnu/libv4l1.so.0 (0x00007f7eb1341000)
libavcodec.so.54 => /usr/lib/x86_64-linux-gnu/libavcodec.so.54 (0x00007f7eb05ed000)
libavformat.so.54 => /usr/lib/x86_64-linux-gnu/libavformat.so.54 (0x00007f7eb02cb000)
libavutil.so.52 => /usr/lib/x86_64-linux-gnu/libavutil.so.52 (0x00007f7eb00a6000)
libswscale.so.2 => /usr/lib/x86_64-linux-gnu/libswscale.so.2 (0x00007f7eafe5f000)
libm.so.6 => /lib/x86_64-linux-gnu/libm.so.6 (0x00007f7eafb59000)
libz.so.1 => /lib/x86_64-linux-gnu/libz.so.1 (0x00007f7eaf940000)
librt.so.1 => /lib/x86_64-linux-gnu/librt.so.1 (0x00007f7eaf738000)
libtbb.so.2 => /usr/lib/libtbb.so.2 (0x00007f7eaf504000)
libxmlrpcpp.so => /opt/ros/jade/lib/libxmlrpcpp.so (0x00007f7eaf2e6000)
libcpp_common.so => /opt/ros/jade/lib/libcpp_common.so (0x00007f7eaf0de000)
libboost_thread.so.1.54.0 => /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.54.0 (0x00007f7eaeec8000)
libboost_filesystem.so.1.54.0 => /usr/lib/x86_64-linux-gnu/libboost_filesystem.so.1.54.0 (0x00007f7eaecb2000)
librosconsole_log4cxx.so => /opt/ros/jade/lib/librosconsole_log4cxx.so (0x00007f7eaea9e000)
librosconsole_backend_interface.so => /opt/ros/jade/lib/librosconsole_backend_interface.so (0x00007f7eae89c000)
My CMakeLists.txt
cmake_minimum_required(VERSION 2.8.3)
project(visensor_node)
find_package(catkin REQUIRED COMPONENTS
roscpp
message_generation
geometry_msgs
sensor_msgs
cv_bridge
std_msgs
image_transport
camera_info_manager
dynamic_reconfigure
cmake_modules
)
# check libvisensor version, flags not used later
find_package(libvisensor 1.1.0 REQUIRED)
add_message_files(
DIRECTORY msg
FILES visensor_imu.msg
visensor_time_host.msg
visensor_calibration.msg
)
add_service_files(
FILES
visensor_calibration_service.srv
)
generate_messages(DEPENDENCIES geometry_msgs)
include_directories(include ${catkin_INCLUDE_DIRS} ${libvisensor_INCLUDE_DIRS})
find_package(Eigen3 REQUIRED)
include_directories(${EIGEN_INCLUDE_DIR})
add_definitions(${EIGEN_DEFINITIONS})
find_package(OpenCV 3.0 REQUIRED COMPONENTS core highgui imgproc)
generate_dynamic_reconfigure_options(cfg/visensor_node.cfg)
if(NOT DEFINED CMAKE_BUILD_TYPE)
set(CMAKE_BUILD_TYPE Release)
endif(NOT DEFINED CMAKE_BUILD_TYPE)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -march=native -Wall -std=c++0x -D__STRICT_ANSI__")
catkin_package(
INCLUDE_DIRS include ${catkin_INCLUDE_DIRS}
CATKIN_DEPENDS
roscpp
sensor_msgs
cv_bridge
std_msgs
image_transport
camera_info_manager
)
#build and add libvisensor system library dependency
add_executable(visensor_node src/visensor_node.cpp src/visensor.cpp )
add_executable(custom_node src/custom_node.cpp include/custom_node.h)
add_dependencies(visensor_node ${${PROJECT_NAME}_EXPORTED_TARGETS}})
add_dependencies(custom_node ${${PROJECT_NAME}_EXPORTED_TARGETS}})
target_link_libraries(visensor_node ${libvisensor_LIBRARIES} ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
target_link_libraries(custom_node ${libvisensor_LIBRARIES} ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
What could possibly be going wrong.?

Answer 1

I recently posted this as an answer here
Libraries can be included and linked with include_directories() and link_directories() like this:
cmake_minimum_required(VERSION 2.4.6)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
...
include_directories(${PROJECT_SOURCE_DIR})
include_directories(/path/to/opencv/OpenCV-2.4.1/include)
link_directories(/path/to/opencv/OpenCV-2.4.1/lib)
...
# Set the build type. Options are:
# Coverage : w/ debug symbols, w/o op ...
and remove the std. linking to your current OpenCV libs.