diff --git a/ptam/CMakeLists.txt b/ptam/CMakeLists.txt
index 2279eff..7b3a518 100644
--- a/ptam/CMakeLists.txt
+++ b/ptam/CMakeLists.txt
@@ -148,4 +148,5 @@ target_link_libraries(remote_ptam ${GTK_LIBRARIES} ${OpenCV_LIBS} ${catkin_LIBRA
 
 add_executable(ptam_visualizer src/PTAMVisualizer.cpp)
 add_dependencies(ptam_visualizer DEPS ${${PROJECT_NAME}_EXPORTED_TARGETS}})
+add_dependencies(ptam_visualizer ${PROJECT_NAME}_gencfg)
 target_link_libraries(ptam_visualizer ${catkin_LIBRARIES})
diff --git a/rqt_ptam/CMakeLists.txt b/rqt_ptam/CMakeLists.txt
index 2a199f4..3acf04e 100644
--- a/rqt_ptam/CMakeLists.txt
+++ b/rqt_ptam/CMakeLists.txt
@@ -2,7 +2,10 @@ cmake_minimum_required(VERSION 2.8.3)
 project(rqt_ptam)
 
 find_package(Qt4 COMPONENTS QtCore QtGui REQUIRED)
-find_package(catkin REQUIRED)
+find_package(catkin REQUIRED COMPONENTS
+  cv_bridge
+  rqt_gui_cpp
+)
 
 
 catkin_package()
diff --git a/rqt_ptam/package.xml b/rqt_ptam/package.xml
index 429fa4e..43b1b6e 100644
--- a/rqt_ptam/package.xml
+++ b/rqt_ptam/package.xml
@@ -24,6 +24,7 @@
   
   <buildtool_depend>catkin</buildtool_depend>
   <build_depend>roscpp</build_depend>
+  <build_depend>rqt_gui_cpp</build_depend>
   <build_depend>std_msgs</build_depend>
   <build_depend>ptam_com</build_depend>
   <build_depend>sensor_msgs</build_depend>