--- a
+++ b/CMakeLists.txt
@@ -0,0 +1,54 @@
+##
+## Created by markus d. solbach
+## solbach@eecs.yorku.ca
+##
+cmake_minimum_required(VERSION 2.8.3)
+project(fallen_person_detector)
+
+add_definitions(-std=c++11)
+
+find_package(OpenCV 3.1 REQUIRED)
+
+find_package(catkin REQUIRED COMPONENTS
+        cv_bridge
+        openpose_ros
+        roscpp
+        sensor_msgs
+        std_msgs
+        pcl_ros
+        pcl_conversions
+        image_transport
+        message_filters
+        HINTS "${CMAKE_PREFIX_PATH}"
+        )
+
+find_package(Boost REQUIRED COMPONENTS
+        signals
+        )
+
+catkin_package(INCLUDE_DIRS src
+        CATKIN_DEPENDS
+        openpose_ros
+        image_transport
+        message_filters
+        std_msgs sensor_msgs
+        )
+include_directories(${roscpp_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}  ${roscpp_CXX_FLAGS}")
+set(CMAKE_CXX_STANDARD 11)
+include_directories(
+        ${catkin_INCLUDE_DIRS}
+)
+
+add_executable(${PROJECT_NAME}_node src/fallen_person_detector.cpp src/ground_floor_finder.cpp src/ground_floor_finder.h src/fallen_person_detector.h src/pcl_util.cpp src/pcl_util.h)
+add_dependencies(${PROJECT_NAME}_node ${catkin_EXPORTED_TARGETS})
+
+target_link_libraries(${PROJECT_NAME}_node ${roscpp_LIBRARIES} ${std_msgs_LIBRARIES} ${catkin_LIBRARIES} ${OpenCV_LIBS} ${Boost_LIBRARIES})
+
+########################################################################################################################
+################################################# Some Debugging Code ##################################################
+# MESSAGE(STATUS ${openpose_ros_DIR})
+# get_property(dirs DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} PROPERTY INCLUDE_DIRECTORIES)
+# foreach(dir ${dirs})
+#     message(STATUS "dir='${dir}'")
+# endforeach()