From b0b5d24c7676210aa3a08f7852bc22690808946e Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Sat, 10 Dec 2022 16:06:35 -0800
Subject: [PATCH] Fixed #135. Fixed opencv include dir order.

---
 CMakeLists.txt                  |  1 +
 src/CMakeLists.txt              | 10 ++++------
 src/ros/find_object_2d_node.cpp |  2 +-
 3 files changed, 6 insertions(+), 7 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index a7599d65..b8923e74 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -393,6 +393,7 @@ ELSE()
    ## DEPENDS: system dependencies of this project that dependent projects also need
    catkin_package(
      CATKIN_DEPENDS cv_bridge roscpp rospy sensor_msgs std_msgs image_transport message_filters tf message_runtime
+     DEPENDS OpenCV
    )
 
    ###########
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 0100af99..d38f0c70 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -96,12 +96,6 @@ SET(INCLUDE_DIRS
    ${CMAKE_CURRENT_BINARY_DIR} # for qt ui generated in binary dir
    ${ZLIB_INCLUDE_DIRS}
 )
-IF(CATKIN_BUILD)
-   SET(INCLUDE_DIRS
-      ${INCLUDE_DIRS}
-      ${catkin_INCLUDE_DIRS}
-   )
-ENDIF(CATKIN_BUILD)
 
 IF(QT4_FOUND)
     INCLUDE(${QT_USE_FILE})
@@ -140,6 +134,10 @@ ENDIF(TORCH_FOUND)
 #include files
 INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
 
+IF(CATKIN_BUILD)
+   INCLUDE_DIRECTORIES(SYSTEM ${catkin_INCLUDE_DIRS})
+ENDIF(CATKIN_BUILD)
+
 # create a library from the source files
 ADD_LIBRARY(find_object ${SRC_FILES})
 # Linking with Qt libraries
diff --git a/src/ros/find_object_2d_node.cpp b/src/ros/find_object_2d_node.cpp
index 9e51fc38..e54fb352 100644
--- a/src/ros/find_object_2d_node.cpp
+++ b/src/ros/find_object_2d_node.cpp
@@ -179,7 +179,7 @@ int main(int argc, char** argv)
 		QCoreApplication app(argc, argv);
 
 		// connect stuff:
-		QObject::connect(camera, SIGNAL(imageReceived(const cv::Mat &, const find_object::Header &, const cv::Mat &, float)), findObjectROS, SLOT(detect(const cv::Mat &, const QString &, double, const cv::Mat &, float)));
+		QObject::connect(camera, SIGNAL(imageReceived(const cv::Mat &, const find_object::Header &, const cv::Mat &, float)), findObjectROS, SLOT(detect(const cv::Mat &, const find_object::Header &, const cv::Mat &, float)));
 
 		//loop
 		camera->start();