Linking opencv_video for CamShift

edit

From a ROS and CMake newbie.

I'm getting the following error which I believe to be a linking problem.

    Built target follow_generate_messages_lisp
   Built target follow_generate_messages_eus
    Scanning dependencies of target follow_generate_messages
    [100%] Built target follow_generate_messages
    /home/eepp/catkin_ws/src/follow/src/cam_shift_tracker.cpp: In member function ‘void CamShaftTracker::imageCallback(const ImageConstPtr&)’:
    /home/eepp/catkin_ws/src/follow/src/cam_shift_tracker.cpp:272:33: error: ‘CamShift’ is not a member of ‘cv’
          cv::RotatedRect trackBox = cv::CamShift(my_backproject, trackWindow,
                                     ^
    make[2]: *** [follow/CMakeFiles/cam_shift_tracker.dir/src/cam_shift_tracker.cpp.o] Error 1
    make[1]: *** [follow/CMakeFiles/cam_shift_tracker.dir/all] Error 2
    make: *** [all] Error 2
    Invoking "make -j4 -l4" failed

The source code is adapted from camshiftdemo.cpp which I found in the OpenCV version 2.4 samples. It compiles and executes fine stand alone. This is the code snippet as I've adapted it to my ROS follow application.

   cv::calcBackProject( &my_hue, 1, 0, my_histogram, my_backproject, &phranges);
       my_backproject &= my_mask;
   cv::RotatedRect trackBox = cv::CamShift(my_backproject, trackWindow,
              cv::TermCriteria (CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 10, 1 ));

In the stand alone demo code compiling it was a simple matter of linking libopencv_video.so. I can't figure out how to do that with catkin. (I'm currently porting some previous work in Electric to Jade). I've tried things like adding the following to package.xml:

  <build_depend>opencv_video</build_depend>

and the following plus other things to CMakeLists.txt:

catkin_package(
#  INCLUDE_DIRS include
LIBRARIES opencv_video
#  CATKIN_DEPENDS roscpp rospy std_msgs
DEPENDS opencv_video
)

add_executable(cam_shift_tracker src/cam_shift_tracker.cpp)
target_link_libraries(cam_shift_tracker
  ${catkin_LIBRARIES} 
  ${OpenCV_LIBRARIES}
  opencv_video
)

Your help with this endeavor to keep a retired engineer's mind agile by stretching it with new skills is appropriated. I learn by doing so I need to see the code before I can connect the dots with tutorials I've read. So I'm sure I've run across the solution but haven't recognized it.

I've also seen evidence of a camshift node which makes me believe that if I load the correct package I should be able to do what I'm doing without writing any code. This is something for me to investigate later.