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Sorry for the late answer,
Your Cmake file isn't able to link Boost to librgbdtools.
Try looking through this link - http://www.cmake.org/Wiki/CMake:How_To_Find_Libraries to understand exactly how CMake links these libraries (this helped be a lot).
If you know FIND_PACKAGE isn't working, then try setting BOOST_INCLUDE_DIR / LIBRARIES manually, and then linking them. Also, try removing the default PATHS in the FIND_PACKAGE(Boost .....) command.
A hacky solution (not recommended) is to directly specify the libraries themselves in what you link to the rgbdtools.h file. I'd suggest this as a last resort.
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