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Since you followed the tutorial on IDEs you should have an autogenerated Eclipse project. So in this case you have to change the setting related to a build process in relevant CMakeLists.txt file, not in Eclipse project settings.

To link additional libraries add target_link_libraries directive to your CMakeLists.txt:

rosbuild_add_executable(my_node src/my_node.cpp)
target_link_libraries(my_node GL GLU glut opencv_core opencv_gpu)

In general, though, you may want to use find_package routine -- many of the libraries has relevant "find" modules for CMake. In case there is no such module you can always fall back to FindPkgConfig package which is a wrapper for system pkg-config utility. Please see here for more details.