From 56fdafb0ab4fdf96ccc977f06a00c0e288f1a173 Mon Sep 17 00:00:00 2001
From: Shane Loretz <sloretz@openrobotics.org>
Date: Mon, 24 Jan 2022 14:11:30 -0800
Subject: [PATCH] Use Boost::pythonXY target

Signed-off-by: Shane Loretz <sloretz@openrobotics.org>
---
 cv_bridge/CMakeLists.txt     | 36 +++++++++++++++---------------------
 cv_bridge/src/CMakeLists.txt |  4 +---
 2 files changed, 16 insertions(+), 24 deletions(-)

diff --git a/cv_bridge/CMakeLists.txt b/cv_bridge/CMakeLists.txt
index b3773e810..428beff67 100644
--- a/cv_bridge/CMakeLists.txt
+++ b/cv_bridge/CMakeLists.txt
@@ -12,28 +12,22 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra)
 endif()
 
-if(NOT ANDROID)
-  find_package(PythonLibs)
-  if(PYTHONLIBS_VERSION_STRING VERSION_LESS 3)
-    find_package(Boost REQUIRED python)
-  else()
-    find_package(Boost QUIET)
-    if(Boost_VERSION LESS 106500)
-      find_package(Boost REQUIRED python)
-    else()
-      # This is a bit of a hack to suppress a warning
-      #   No header defined for python3; skipping header check
-      # Which should only affect Boost versions < 1.67
-      # Resolution for newer versions:
-      #  https://gitlab.kitware.com/cmake/cmake/issues/16391
-      if (Boost_VERSION LESS 106700)
-        set(_Boost_PYTHON3_HEADERS "boost/python.hpp")
-      endif()
-      find_package(Boost COMPONENTS python3 REQUIRED)
-    endif()
-  endif()
+if(ANDROID)
+  find_package(Boost REQUIRED)
+  set(boost_python_target "")
 else()
-  find_package(Boost REQUIRED COMPONENTS python)
+  find_package(Boost QUIET)
+  if(Boost_VERSION_STRING VERSION_LESS "1.67")
+    # This is a bit of a hack to suppress a warning
+    #   No header defined for python3; skipping header check
+    # Which should only affect Boost versions < 1.67
+    # Resolution for newer versions:
+    #  https://gitlab.kitware.com/cmake/cmake/issues/16391
+    set(_Boost_PYTHON3_HEADERS "boost/python.hpp")
+  endif()
+  find_package(Python3 REQUIRED COMPONENTS Development NumPy)
+  find_package(Boost REQUIRED COMPONENTS python${Python3_VERSION_MAJOR}${Python3_VERSION_MINOR})
+  set(boost_python_target "Boost::python${Python3_VERSION_MAJOR}${Python3_VERSION_MINOR}")
 endif()
 
 find_package(sensor_msgs REQUIRED)
diff --git a/cv_bridge/src/CMakeLists.txt b/cv_bridge/src/CMakeLists.txt
index e8f0adb31..98db9ec73 100644
--- a/cv_bridge/src/CMakeLists.txt
+++ b/cv_bridge/src/CMakeLists.txt
@@ -25,12 +25,10 @@ install(FILES
   DESTINATION include/${PROJECT_NAME}/${PROJECT_NAME})
 
 if(NOT ANDROID)
-  find_package(Python3 REQUIRED COMPONENTS Development NumPy)
-
   Python3_add_library(${PROJECT_NAME}_boost MODULE module.cpp module_opencv3.cpp)
   target_link_libraries(${PROJECT_NAME}_boost PRIVATE
     ${PROJECT_NAME}
-    Boost::python
+    ${boost_python_target}
     Python3::NumPy)
   target_compile_definitions(${PROJECT_NAME}_boost PRIVATE PYTHON3)