Undefined references after catkinizing an old fuerte package

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Hi, i am trying to use "arm_3d_cb_calib" which is part of the "gt-ros-pkg.cpl" to calibrate a Kinect with my workspace.

In order to use it i had to catkinize the package since i am using ROS Groovy. The Problem is when trying to compile it i get a lot of undefined references errors.

I feel like i missed some dependencies but i am too inexperienced to figure out what i have to add where.

Alternatively a different, working package to calibrate a Kinect with any Robot would work as well.

Cmakelists.txt:

cmake_minimum_required(VERSION 2.8.3)
project(arm_3d_cb_calib)
# Load catkin and all dependencies required for this package
# TODO: remove all from COMPONENTS that are not catkin packages.
find_package(catkin REQUIRED COMPONENTS roscpp cv_bridge stereo_msgs sensor_msgs tf camera_calibration)

include_directories(include ${Boost_INCLUDE_DIR} ${catkin_INCLUDE_DIRS})
# CATKIN_MIGRATION: removed during catkin migration
# cmake_minimum_required(VERSION 2.4.6)

# CATKIN_MIGRATION: removed during catkin migration
# include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)


#set the default path for built executables to the "bin" directory
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
#set the default path for built libraries to the "lib" directory
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)


find_package(GTSAM)

find_package(PCL 1.3 REQUIRED COMPONENTS common io)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

add_library(${PROJECT_NAME} src/calib_3d_cbs.cpp)
add_executable(test_cb_calib src/test_cb_calib.cpp)
target_link_libraries(test_cb_calib ${PROJECT_NAME} gtsam-static)
add_executable(find_cb_calib src/find_cb_calib.cpp)
target_link_libraries(find_cb_calib ${PROJECT_NAME} gtsam-static)

# TODO: fill in what other packages will need to use this package
## DEPENDS: system dependencies of this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## INCLUDE_DIRS: 
## LIBRARIES: libraries you create in this project that dependent projects also need
catkin_package(
    DEPENDS roscpp cv_bridge opencv2 stereo_msgs sensor_msgs tf camera_calibration
    CATKIN_DEPENDS opencv2# TODO
    INCLUDE_DIRS # TODO include
    LIBRARIES # TODO
)

Package.xml:

<package>
  <name>arm_3d_cb_calib</name>
  <version>1.0.0</version>
  <description>Utility for calibrating cameras and RGB-D sensors to a robot arm
      holding a checkerboard.  The optimization procedure takes a set of 
      3D checkerboard corner detections and corresponding end effector
      poses to find the both, the transformation between the end effector 
      and the checkerboard frame, and the transformation between the /base_link
      and the sensor's frame. The assumption is that the pose of the checkerboard
      with respect to the end effector is fixed, and that enough samples are obtained
      such that the checkerboard offset can be uniquely determined.  In practice,
      having over 12 checkerboard captures is recommended such that all 6 degrees of 
      freedom of its pose are expressed in the sensor.</description>
  <!-- <maintainer>Kelsey</maintainer> -->

  <license>BSD</license>
  <maintainer <a href="mailto:email="kelsey@todo.todo">kelsey</maintainer">email="kelsey@todo.todo">kelsey</maintainer</a>>
  <url type="website"></url>
  <!-- <url type="bugtracker"></url> -->

  <author>Kelsey</author>

<buildtool_depend>catkin</buildtool_depend>

  <build_depend>roscpp</build_depend> 
  <build_depend>cv_bridge</build_depend> 
 <build_depend>opencv2</build_depend> 
 <build_depend>stereo_msgs</build_depend> 
  <build_depend>sensor_msgs</build_depend>
 <build_depend>tf</build_depend> 
 <build_depend>camera_calibration</build_depend> 
  <run_depend>roscpp</run_depend> 
  <run_depend>cv_bridge</run_depend> 
 <run_depend>opencv2</run_depend> 
 <run_depend>stereo_msgs</run_depend>
 <run_depend>sensor_msgs</run_depend> 
 <run_depend>tf</run_depend> 
  <run_depend>camera_calibration</run_depend>
  <!-- <test_depend>roscpp</test_depend> -->
  <!-- <test_depend>cv_bridge</test_depend> -->
  <!-- <test_depend>opencv2</test_depend> -->
  <!-- <test_depend>stereo_msgs</test_depend> -->
  <!-- <test_depend>sensor_msgs ...