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I ended up following the instructions here: http://docs.ros.org/hydro/api/catkin/html/howto/system_library_dependencies.html
Even though I was finding OpenCV with find_package(), the exported OpenCV_LIBRARIES variable did not include full paths to the library files, only the names. This caused the libraries to not show up in other packages which included my opencv3 package.
The solution was to create a variable which contained the full path to the OpenCV libraries, and place that variable in the LIBRARIES part of catkin_package(). Only then were packages dependent on opencv3 able to link and build properly.
I'm mostly happy with this solution, but it still requires me to create a custom variable which contains the absolute paths to all OpenCV libraries. I would much rather just have DEPENDS OpenCV in catkin_package() and be done with it.
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