diff --git a/CMakeLists.txt b/CMakeLists.txt
index 41ff3fc3..5000586b 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -71,6 +71,12 @@ include(cmake/RMVLVersion.cmake)
 set(para_template_path "${CMAKE_SOURCE_DIR}/cmake/templates" CACHE INTERNAL "GenPara template path" FORCE)
 include(cmake/RMVLGenPara.cmake)
 
+# ----------------------------------------------------------------------------
+#  RMVL 3rdparty libraries
+# ----------------------------------------------------------------------------
+find_package(OpenCV REQUIRED)
+find_package(Eigen3 REQUIRED)
+
 # ----------------------------------------------------------------------------
 #  Process subdirectories
 # ----------------------------------------------------------------------------
@@ -94,7 +100,7 @@ endif(BUILD_EXAMPLES)
 #  Documents generation
 # ----------------------------------------------------------------------------
 if(BUILD_DOCS)
-  find_package(Doxygen)
+  find_package(Doxygen REQUIRED)
     if(DOXYGEN_FOUND)
     add_custom_target(
       doxygen
@@ -163,15 +169,13 @@ endif()
 status("     ccache:"              ENABLE_CCACHE AND CCACHE_FOUND THEN YES ELSE NO)
 
 # =================== Other third-party libraries ===================
-find_package(OpenCV QUIET)
-find_package(Eigen3 QUIET)
 status("")
 status("  Other third-party libraries:")
 status("     OpenCV: (*)"           OpenCV_FOUND THEN "YES (ver ${OpenCV_VERSION})" ELSE NO)
 status("     Eigen library: (*)"    Eigen3_FOUND THEN "YES (ver ${EIGEN3_VERSION_STRING})" ELSE NO)
-status("     onnxruntime:"          WITH_ONNXRUNTIME THEN YES ELSE NO)
+status("     onnxruntime:"          WITH_ONNXRUNTIME THEN "YES (ver ${Ort_VERSION})" ELSE NO)
 status("     apriltag:"             WITH_APRILTAG THEN YES ELSE NO)
-status("     open62541:"            WITH_OPEN62541 THEN YES ELSE NO)
+status("     open62541:"            WITH_OPEN62541 THEN "YES (ver ${open62541_VERSION})" ELSE NO)
 
 # =============================== SDK ===============================
 status("")
@@ -183,18 +187,35 @@ status("        OPT:"               BUILD_rmvl_opt_camera THEN YES ELSE NO)
 status("     Light controller:")
 status("        OPT:"               BUILD_rmvl_opt_light_control THEN YES ELSE NO)
 
-# ===================== Inference engine in RMVL ====================
-status("")
-status("  Inference engine in RMVL:")
-status("     Ort:"                  BUILD_rmvl_ort THEN YES ELSE NO)
-
 # ========================== RMVL modules ===========================
-string(REGEX REPLACE "rmvl_" " " modules_public_dir ${RMVL_MODULES_PUBLIC})
-string(REGEX REPLACE "rmvl_" " " modules_interface_dir ${RMVL_MODULES_INTERFACE})
+set(RMVL_MAIN_MODULES_BUILD ${RMVL_MODULES_BUILD})
+foreach(m ${RMVL_EXTRA_MODULE})
+  string(TOUPPER "${m}" mUP)
+  list(REMOVE_ITEM RMVL_MAIN_MODULES_BUILD ${RMVL_${mUP}_MODULES_BUILD} rmvl_types)
+  if("${m}" STREQUAL "types")
+    continue()
+  endif()
+  string(REGEX REPLACE "rmvl_" " " ${m}_modules ${RMVL_${mUP}_MODULES_BUILD})
+endforeach()
+string(REGEX REPLACE "rmvl_" " " main_modules ${RMVL_MAIN_MODULES_BUILD})
+
+status("")
+status("  RMVL main modules:")
+status("     To be built:"          ${main_modules})
+status("")
+status("  RMVL extra modules:"      BUILD_EXTRA THEN YES ELSE NO)
+if(BUILD_EXTRA)
+  status("     To be built:")
+  foreach(m ${RMVL_EXTRA_MODULE})
+    if("${m}" STREQUAL "types")
+      continue()
+    endif()
+    status("        ${m}:"          ${${m}_modules})
+  endforeach()
+endif()
 status("")
-status("  RMVL modules:")
-status("     public modules:"       ${modules_public_dir})
-status("     interface modules:"    ${modules_interface_dir})
+status("  Documents (Doxygen):"     BUILD_DOCS THEN "YES (ver ${DOXYGEN_VERSION})" ELSE NO)
+
 
 # ======================== Test and examples ========================
 status("")
diff --git a/cmake/FindOrt.cmake b/cmake/FindOrt.cmake
index 5f2aa201..fbd7d99f 100755
--- a/cmake/FindOrt.cmake
+++ b/cmake/FindOrt.cmake
@@ -1,8 +1,13 @@
+# ------------------------------------------------------------------------------
+#  find onnxruntime root path
+# ------------------------------------------------------------------------------
 if(NOT ort_root_path)
   set(ort_root_path "/usr/local")
 endif()
 
-# add the include directories path
+# ------------------------------------------------------------------------------
+#  find onnxruntime include directory
+# ------------------------------------------------------------------------------
 find_path(
   Ort_INCLUDE_DIR
   PATHS "${ort_root_path}/include/onnxruntime"
@@ -13,7 +18,9 @@ find_path(
   NO_DEFAULT_PATH
 )
 
-# add libraries
+# ------------------------------------------------------------------------------
+#  find onnxruntime library file
+# ------------------------------------------------------------------------------
 find_library(
   Ort_LIB
   NAMES "libonnxruntime.so"
@@ -21,6 +28,9 @@ find_library(
   NO_DEFAULT_PATH
 )
 
+# ------------------------------------------------------------------------------
+#  create imported target: onnxruntime
+# ------------------------------------------------------------------------------
 if(NOT TARGET onnxruntime)
   add_library(onnxruntime SHARED IMPORTED)
   set_target_properties(onnxruntime PROPERTIES
@@ -31,12 +41,24 @@ endif()
 
 mark_as_advanced(Ort_INCLUDE_DIR Ort_LIB)
 
+# ------------------------------------------------------------------------------
+#  set onnxruntime cmake variables and version variables
+# ------------------------------------------------------------------------------
 set(Ort_LIBS "onnxruntime")
 set(Ort_INCLUDE_DIRS "${Ort_INCLUDE_DIR}")
 
+file(STRINGS "${Ort_INCLUDE_DIR}/onnxruntime_c_api.h" Ort_VERSION
+  REGEX "#define ORT_API_VERSION [0-9]+"
+)
+string(REGEX REPLACE "#define ORT_API_VERSION ([0-9]+)" "1.\\1" Ort_VERSION "${Ort_VERSION}")
+
+# ------------------------------------------------------------------------------
+#  handle the package
+# ------------------------------------------------------------------------------
 include(FindPackageHandleStandardArgs)
 
 find_package_handle_standard_args(
   Ort
+  VERSION_VAR Ort_VERSION
   REQUIRED_VARS Ort_LIB Ort_INCLUDE_DIR
 )
diff --git a/cmake/RMVLCompilerOptions.cmake b/cmake/RMVLCompilerOptions.cmake
index 5a8460d2..1d484d53 100755
--- a/cmake/RMVLCompilerOptions.cmake
+++ b/cmake/RMVLCompilerOptions.cmake
@@ -220,12 +220,17 @@ option(BUILD_OPEN62541 "Build the 3rd party: open62541" OFF)
 if(BUILD_OPEN62541)
   add_subdirectory(${CMAKE_SOURCE_DIR}/3rdparty/open62541)
 endif()
-find_package(open62541 QUIET)
-if(BUILD_OPEN62541 OR open62541_FOUND)
+if(BUILD_OPEN62541)
+  unset(WITH_OPEN62541 CACHE)
   option(WITH_OPEN62541 "Enable open62541 support" ON)
 else()
-  unset(WITH_OPEN62541 CACHE)
-  option(WITH_OPEN62541 "Enable open62541 support" OFF)
+  find_package(open62541 QUIET)
+  if(open62541_FOUND)
+    option(WITH_OPEN62541 "Enable open62541 support" ON)
+  else()
+    unset(WITH_OPEN62541 CACHE)
+    option(WITH_OPEN62541 "Enable open62541 support" OFF)
+  endif()
 endif()
 
 # onnxruntime
diff --git a/cmake/RMVLModule.cmake b/cmake/RMVLModule.cmake
index 35c35ffd..5c298379 100644
--- a/cmake/RMVLModule.cmake
+++ b/cmake/RMVLModule.cmake
@@ -6,15 +6,11 @@
 # 全局变量
 #
 # RMVL_MODULES_BUILD
-# RMVL_MODULES_PUBLIC
-# RMVL_MODULES_INTERFACE
 #
 # RMVL_MODULE_${the_module}_LOCATION
 # RMVL_MODULE_${the_module}_BINARY_DIR
 
-set(RMVL_MODULES_BUILD   "" CACHE INTERNAL "List of RMVL modules included into the build")
-set(RMVL_MODULES_PUBLIC  "" CACHE INTERNAL "List of RMVL public modules marked for export")
-set(RMVL_MODULES_INTERFACE "" CACHE INTERNAL "List of RMVL interface modules marked for export")
+set(RMVL_MODULES_BUILD "" CACHE INTERNAL "List of RMVL modules included into the build")
 
 # ----------------------------------------------------------------------------
 #   将预处理定义添加至指定目标
@@ -70,7 +66,11 @@ function(rmvl_install_directories _dir)
 endfunction(rmvl_install_directories)
 
 # ----------------------------------------------------------------------------
-#   在当前目录中添加新的 RMVL 模块
+#   在当前目录中添加新的 RMVL 模块，并会依次添加至
+#   - 局部变量 modules_build
+#   - 缓存变量 RMVL_MODULES_BUILD
+#   中
+#
 #   用法:
 #     rmvl_add_module(<name> [INTERFACE] [EXTRA_HEADER <list of other include directories>]
 #       [EXTRA_SOURCE <list of other source directories>] [DEPENDS <list of rmvl dependencies>]
@@ -190,12 +190,7 @@ macro(rmvl_add_module _name)
       ARCHIVE DESTINATION ${RMVL_LIB_INSTALL_PATH}
       LIBRARY DESTINATION ${RMVL_LIB_INSTALL_PATH}
     )
-
-    if(NOT MD_INTERFACE) # public library
-      set(RMVL_MODULES_PUBLIC ${RMVL_MODULES_PUBLIC} "${the_module}" CACHE INTERNAL "List of RMVL public modules marked for export" FORCE)
-    else() # interface library
-      set(RMVL_MODULES_INTERFACE ${RMVL_MODULES_INTERFACE} "${the_module}" CACHE INTERNAL "List of RMVL interface modules marked for export" FORCE)
-    endif(NOT MD_INTERFACE)
+    list(APPEND modules_build ${the_module})
     set(RMVL_MODULES_BUILD ${RMVL_MODULES_BUILD} "${the_module}" CACHE INTERNAL "List of RMVL modules included into the build" FORCE)
   endif()
   unset(the_module)
diff --git a/cmake/templates/RMVLConfig.cmake.in b/cmake/templates/RMVLConfig.cmake.in
index 0b0eb5fc..baafa8e2 100644
--- a/cmake/templates/RMVLConfig.cmake.in
+++ b/cmake/templates/RMVLConfig.cmake.in
@@ -100,5 +100,5 @@ endforeach()
 # =============================================================
 find_package_handle_standard_args(RMVL
   REQUIRED_VARS RMVL_INSTALL_PATH
-  VERSION_VAR RMVL_VERSION HANDLE_COMPONENTS
+  VERSION_VAR RMVL_VERSION
 )
diff --git a/extra/CMakeLists.txt b/extra/CMakeLists.txt
index 55a87b82..c70af352 100755
--- a/extra/CMakeLists.txt
+++ b/extra/CMakeLists.txt
@@ -4,16 +4,16 @@ file(GLOB module_extra_st RELATIVE "${cur_path}" "${cur_path}/*")
 
 set(RMVL_EXTRA_MODULE "")
 foreach(m ${module_extra_st})
-    if(IS_DIRECTORY ${cur_path}/${m} AND (NOT (${m} STREQUAL include)))
-        list(APPEND RMVL_EXTRA_MODULE "${m}")
-    endif()
+  if(IS_DIRECTORY ${cur_path}/${m} AND (NOT (${m} STREQUAL include)))
+    list(APPEND RMVL_EXTRA_MODULE "${m}")
+  endif()
 endforeach()
 
-set(RMVL_EXTRA_MODULE ${RMVL_EXTRA_MODULE} CACHE INTERNAL "List of main modules" FORCE)
+set(RMVL_EXTRA_MODULE ${RMVL_EXTRA_MODULE} CACHE INTERNAL "List of main modules")
 
 # core modules
 foreach(m ${RMVL_EXTRA_MODULE})
-    add_subdirectory(${CMAKE_CURRENT_LIST_DIR}/${m})
+  add_subdirectory(${CMAKE_CURRENT_LIST_DIR}/${m})
 endforeach()
 
 unset(module_extra_st)
diff --git a/extra/combo/CMakeLists.txt b/extra/combo/CMakeLists.txt
index bee5a4dc..d23f29e2 100755
--- a/extra/combo/CMakeLists.txt
+++ b/extra/combo/CMakeLists.txt
@@ -1,3 +1,6 @@
+# ----------------------------------------------------------------------------
+#  Generate para and add module for each combo
+# ----------------------------------------------------------------------------
 rmvl_add_module(
   combo
   DEPENDS feature camera
@@ -25,7 +28,9 @@ rmvl_add_module(
 
 rmvl_generate_module_para(combo)
 
-# build the test program
+# ----------------------------------------------------------------------------
+#  build the test program
+# ----------------------------------------------------------------------------
 if(BUILD_TESTS)
   rmvl_add_test(
     combo Unit
@@ -33,3 +38,8 @@ if(BUILD_TESTS)
     DEPEND_TESTS GTest::gtest_main
   )
 endif(BUILD_TESTS)
+
+# ----------------------------------------------------------------------------
+#  Export the combo modules
+# ----------------------------------------------------------------------------
+set(RMVL_COMBO_MODULES_BUILD ${modules_build} CACHE INTERNAL "modules to be built")
\ No newline at end of file
diff --git a/extra/compensator/CMakeLists.txt b/extra/compensator/CMakeLists.txt
index 8ee70e20..342dfdc1 100755
--- a/extra/compensator/CMakeLists.txt
+++ b/extra/compensator/CMakeLists.txt
@@ -1,25 +1,26 @@
+# ----------------------------------------------------------------------------
+#  Generate para and add module for each compensator
+# ----------------------------------------------------------------------------
 rmvl_add_module(
   compensator INTERFACE
   DEPENDS group
 )
 
+# gravity_compensator
 rmvl_generate_para(
   gravity_compensator
   MODULE compensator
 )
-
-rmvl_generate_para(
-  gyro_compensator
-  MODULE compensator
-)
-
-# gravity_compensator
 rmvl_add_module(
   gravity_compensator
   DEPENDS compensator
 )
 
 # gyro_compensator
+rmvl_generate_para(
+  gyro_compensator
+  MODULE compensator
+)
 rmvl_add_module(
   gyro_compensator
   DEPENDS compensator gyro_group
@@ -27,7 +28,9 @@ rmvl_add_module(
 
 rmvl_generate_module_para(compensator)
 
-# Tests
+# ----------------------------------------------------------------------------
+#  Build the test program
+# ----------------------------------------------------------------------------
 if(BUILD_TESTS)
   rmvl_add_test(
     compensator Unit
@@ -35,3 +38,8 @@ if(BUILD_TESTS)
     DEPEND_TESTS GTest::gtest_main
   )
 endif()
+
+# ----------------------------------------------------------------------------
+#  Export the compensator modules
+# ----------------------------------------------------------------------------
+set(RMVL_COMPENSATOR_MODULES_BUILD ${modules_build} CACHE INTERNAL "modules to be built")
diff --git a/extra/decider/CMakeLists.txt b/extra/decider/CMakeLists.txt
index e694bd00..aa4f41fe 100755
--- a/extra/decider/CMakeLists.txt
+++ b/extra/decider/CMakeLists.txt
@@ -1,3 +1,6 @@
+# ----------------------------------------------------------------------------
+#  Generate para and add module for each decider
+# ----------------------------------------------------------------------------
 rmvl_add_module(
   decider INTERFACE
   DEPENDS detector compensator predictor
@@ -35,8 +38,15 @@ rmvl_add_module(
 
 rmvl_generate_module_para(decider)
 
-# build the test program
+# ----------------------------------------------------------------------------
+#  Build the test program
+# ----------------------------------------------------------------------------
 if(BUILD_TESTS)
 
 endif(BUILD_TESTS)
 
+# ----------------------------------------------------------------------------
+#  Export the decider modules
+# ----------------------------------------------------------------------------
+set(RMVL_DECIDER_MODULES_BUILD ${modules_build} CACHE INTERNAL "modules to be built")
+
diff --git a/extra/detector/CMakeLists.txt b/extra/detector/CMakeLists.txt
index d1acaa50..a306fd74 100755
--- a/extra/detector/CMakeLists.txt
+++ b/extra/detector/CMakeLists.txt
@@ -1,3 +1,6 @@
+# ----------------------------------------------------------------------------
+#  Generate para and add module for each detector
+# ----------------------------------------------------------------------------
 rmvl_add_module(
   detector INTERFACE
   DEPENDS imgproc group
@@ -50,7 +53,9 @@ endif()
 
 rmvl_generate_module_para(detector)
 
-# build the test program
+# ----------------------------------------------------------------------------
+#  Build the test program
+# ----------------------------------------------------------------------------
 if(BUILD_TESTS)
   rmvl_add_test(
     detector Unit
@@ -58,3 +63,9 @@ if(BUILD_TESTS)
     DEPEND_TESTS GTest::gtest_main
   )
 endif(BUILD_TESTS)
+
+# ----------------------------------------------------------------------------
+#  Export the detector modules
+# ----------------------------------------------------------------------------
+set(RMVL_DETECTOR_MODULES_BUILD ${modules_build} CACHE INTERNAL "modules to be built")
+
diff --git a/extra/feature/CMakeLists.txt b/extra/feature/CMakeLists.txt
index c55e0e8e..cce4cfa5 100755
--- a/extra/feature/CMakeLists.txt
+++ b/extra/feature/CMakeLists.txt
@@ -1,9 +1,10 @@
-find_package(OpenCV COMPONENTS imgproc calib3d REQUIRED)
-
+# ----------------------------------------------------------------------------
+#  Generate para and add module for each feature
+# ----------------------------------------------------------------------------
 rmvl_add_module(
   feature INTERFACE
   DEPENDS types
-  EXTERNAL ${OpenCV_LIBS}
+  EXTERNAL opencv_imgproc opencv_calib3d
 )
 
 # light_blob
@@ -54,7 +55,9 @@ rmvl_add_module(
 
 rmvl_generate_module_para(feature)
 
-# build the test program
+# ----------------------------------------------------------------------------
+#  build the test program
+# ----------------------------------------------------------------------------
 if(BUILD_TESTS)
   rmvl_add_test(
     feature Unit
@@ -62,3 +65,8 @@ if(BUILD_TESTS)
     DEPEND_TESTS GTest::gtest_main
   )
 endif(BUILD_TESTS)
+
+# ----------------------------------------------------------------------------
+#  Export the feature modules
+# ----------------------------------------------------------------------------
+set(RMVL_FEATURE_MODULES_BUILD ${modules_build} CACHE INTERNAL "modules to be built")
diff --git a/extra/group/CMakeLists.txt b/extra/group/CMakeLists.txt
index 7b3b859b..fb3db846 100755
--- a/extra/group/CMakeLists.txt
+++ b/extra/group/CMakeLists.txt
@@ -1,3 +1,6 @@
+# ----------------------------------------------------------------------------
+#  Generate para and add module for each group
+# ----------------------------------------------------------------------------
 rmvl_add_module(
   group INTERFACE
   DEPENDS tracker
@@ -25,7 +28,9 @@ rmvl_add_module(
 
 rmvl_generate_module_para(group)
 
-# build the test program
+# ----------------------------------------------------------------------------
+#  Build the test program
+# ----------------------------------------------------------------------------
 if(BUILD_TESTS)
   rmvl_add_test(
     group Unit
@@ -33,3 +38,8 @@ if(BUILD_TESTS)
     DEPEND_TESTS GTest::gtest_main
   )
 endif(BUILD_TESTS)
+
+# ----------------------------------------------------------------------------
+#  Export the group modules
+# ----------------------------------------------------------------------------
+set(RMVL_GROUP_MODULES_BUILD ${modules_build} CACHE INTERNAL "modules to be built")
diff --git a/extra/predictor/CMakeLists.txt b/extra/predictor/CMakeLists.txt
index 84308b7e..c9d4fd23 100755
--- a/extra/predictor/CMakeLists.txt
+++ b/extra/predictor/CMakeLists.txt
@@ -1,3 +1,6 @@
+# ----------------------------------------------------------------------------
+#  Generate para and add module for each predictor
+# ----------------------------------------------------------------------------
 rmvl_add_module(
   predictor INTERFACE
   DEPENDS group
@@ -45,7 +48,9 @@ rmvl_add_module(
 
 rmvl_generate_module_para(predictor)
 
-# build the test program
+# ----------------------------------------------------------------------------
+#  Build the test program
+# ----------------------------------------------------------------------------
 if(BUILD_TESTS)
   rmvl_add_test(
     predictor Unit
@@ -53,3 +58,8 @@ if(BUILD_TESTS)
     DEPEND_TESTS GTest::gtest_main
   )
 endif(BUILD_TESTS)
+
+# ----------------------------------------------------------------------------
+#  Export the predictor modules
+# ----------------------------------------------------------------------------
+set(RMVL_PREDICTOR_MODULES_BUILD ${modules_build} CACHE INTERNAL "modules to be built")
diff --git a/extra/tracker/CMakeLists.txt b/extra/tracker/CMakeLists.txt
index 49747d0b..cba52617 100755
--- a/extra/tracker/CMakeLists.txt
+++ b/extra/tracker/CMakeLists.txt
@@ -1,3 +1,6 @@
+# ----------------------------------------------------------------------------
+#  Generate para and add module for each tracker
+# ----------------------------------------------------------------------------
 rmvl_add_module(
   tracker
   DEPENDS combo
@@ -35,7 +38,9 @@ rmvl_add_module(
 
 rmvl_generate_module_para(tracker)
 
-# build the test program
+# ----------------------------------------------------------------------------
+#  build the test program
+# ----------------------------------------------------------------------------
 if(BUILD_TESTS)
   rmvl_add_test(
     tracker Unit
@@ -43,3 +48,8 @@ if(BUILD_TESTS)
     DEPEND_TESTS GTest::gtest_main
   )
 endif(BUILD_TESTS)
+
+# ----------------------------------------------------------------------------
+#  Export the tracker modules
+# ----------------------------------------------------------------------------
+set(RMVL_TRACKER_MODULES_BUILD ${modules_build} CACHE INTERNAL "modules to be built")
diff --git a/extra/types/CMakeLists.txt b/extra/types/CMakeLists.txt
index f67deb5c..12b07792 100644
--- a/extra/types/CMakeLists.txt
+++ b/extra/types/CMakeLists.txt
@@ -1,9 +1,14 @@
+# ----------------------------------------------------------------------------
+#  Generate para and add module for types
+# ----------------------------------------------------------------------------
 rmvl_add_module(
   types
   DEPENDS core
 )
 
-# build the test program
+# ----------------------------------------------------------------------------
+#  Build the test program
+# ----------------------------------------------------------------------------
 if(BUILD_TESTS)
   rmvl_add_test(
     types Unit
diff --git a/modules/core/CMakeLists.txt b/modules/core/CMakeLists.txt
index 67e4dacd..d37ea830 100644
--- a/modules/core/CMakeLists.txt
+++ b/modules/core/CMakeLists.txt
@@ -1,7 +1,3 @@
-find_package(Threads REQUIRED)
-find_package(OpenCV COMPONENTS core REQUIRED)
-find_package(Eigen3 REQUIRED)
-
 # 生成预定义宏
 rmvl_check_include_file(
   FILES termios.h dirent.h fcntl.h unistd.h
@@ -15,7 +11,7 @@ rmvl_generate_para(core)
 rmvl_add_module(
   core
   EXTRA_HEADER ${EIGEN3_INCLUDE_DIR}
-  EXTERNAL ${CMAKE_THREAD_LIBS_INIT} opencv_core
+  EXTERNAL opencv_core
 )
 
 # 添加预定义宏到 core 模块
diff --git a/modules/imgproc/CMakeLists.txt b/modules/imgproc/CMakeLists.txt
index 85283db3..cf1aeeb0 100644
--- a/modules/imgproc/CMakeLists.txt
+++ b/modules/imgproc/CMakeLists.txt
@@ -1,9 +1,7 @@
-find_package(OpenCV REQUIRED)
-
 rmvl_add_module(
   imgproc
   DEPENDS core
-  EXTERNAL ${OpenCV_LIBS}
+  EXTERNAL opencv_imgproc
 )
 
 # Build the test program
diff --git a/modules/ml/CMakeLists.txt b/modules/ml/CMakeLists.txt
index e33e74b3..74b79f3b 100644
--- a/modules/ml/CMakeLists.txt
+++ b/modules/ml/CMakeLists.txt
@@ -1,9 +1,6 @@
-find_package(OpenCV REQUIRED)
-
 rmvl_add_module(
   ml INTERFACE
   DEPENDS core
-  EXTERNAL ${OpenCV_LIBS}
 )
 
 # add module: ort
diff --git a/samples/camera/hik/CMakeLists.txt b/samples/camera/hik/CMakeLists.txt
index 4329c475..fbdad7cd 100644
--- a/samples/camera/hik/CMakeLists.txt
+++ b/samples/camera/hik/CMakeLists.txt
@@ -2,32 +2,30 @@ if(NOT BUILD_rmvl_hik_camera)
   return()
 endif()
 
-find_package(OpenCV COMPONENTS highgui calib3d REQUIRED)
-
 rmvl_add_exe(
   rmvl_hik_mono
   SOURCES sample_hik_mono.cpp
   DEPENDS hik_camera
-  EXTERNAL ${OpenCV_LIBS}
+  EXTERNAL opencv_highgui opencv_calib3d
 )
 
 rmvl_add_exe(
   rmvl_hik_multi
   SOURCES sample_hik_multi.cpp
   DEPENDS hik_camera
-  EXTERNAL ${OpenCV_LIBS}
+  EXTERNAL opencv_highgui opencv_calib3d
 )
 
 rmvl_add_exe(
   rmvl_hik_writer
   SOURCES sample_hik_writer.cpp
   DEPENDS hik_camera
-  EXTERNAL ${OpenCV_LIBS}
+  EXTERNAL opencv_highgui opencv_calib3d
 )
 
 rmvl_add_exe(
   rmvl_hik_manual_calib
   SOURCES sample_hik_manual_calib.cpp
   DEPENDS hik_camera
-  EXTERNAL ${OpenCV_LIBS}
+  EXTERNAL opencv_highgui opencv_calib3d
 )
diff --git a/samples/camera/mv/CMakeLists.txt b/samples/camera/mv/CMakeLists.txt
index c4cfa3f8..92bfd42b 100644
--- a/samples/camera/mv/CMakeLists.txt
+++ b/samples/camera/mv/CMakeLists.txt
@@ -2,39 +2,37 @@ if(NOT BUILD_rmvl_mv_camera)
   return()
 endif()
 
-find_package(OpenCV COMPONENTS highgui calib3d REQUIRED)
-
 rmvl_add_exe(
   rmvl_mv_mono
   SOURCES sample_mv_mono.cpp
   DEPENDS mv_camera
-  EXTERNAL ${OpenCV_LIBS}
+  EXTERNAL opencv_highgui opencv_calib3d
 )
 
 rmvl_add_exe(
   rmvl_mv_multi
   SOURCES sample_mv_multi.cpp
   DEPENDS mv_camera
-  EXTERNAL ${OpenCV_LIBS}
+  EXTERNAL opencv_highgui opencv_calib3d
 )
 
 rmvl_add_exe(
   rmvl_mv_writer
   SOURCES sample_mv_writer.cpp
   DEPENDS mv_camera
-  EXTERNAL ${OpenCV_LIBS}
+  EXTERNAL opencv_highgui opencv_calib3d
 )
 
 rmvl_add_exe(
   rmvl_mv_auto_calib
   SOURCES sample_mv_auto_calib.cpp
   DEPENDS mv_camera
-  EXTERNAL ${OpenCV_LIBS}
+  EXTERNAL opencv_highgui opencv_calib3d
 )
 
 rmvl_add_exe(
   rmvl_mv_manual_calib
   SOURCES sample_mv_manual_calib.cpp
   DEPENDS mv_camera
-  EXTERNAL ${OpenCV_LIBS}
+  EXTERNAL opencv_highgui opencv_calib3d
 )
diff --git a/samples/detector/hik/CMakeLists.txt b/samples/detector/hik/CMakeLists.txt
index f2b3c308..c24db013 100644
--- a/samples/detector/hik/CMakeLists.txt
+++ b/samples/detector/hik/CMakeLists.txt
@@ -2,14 +2,12 @@ if(NOT BUILD_rmvl_hik_camera OR NOT BUILD_rmvl_armor_detector)
   return()
 endif()
 
-find_package(OpenCV COMPONENTS highgui REQUIRED)
-
 if(HAVE_FILESYSTEM)
   rmvl_add_exe(
     rmvl_hik_armor_collection
     SOURCES sample_hik_armor_collection.cpp
     DEPENDS hik_camera armor_detector
-    EXTERNAL ${OpenCV_LIBS}
+    EXTERNAL opencv_highgui opencv_calib3d
   )
 endif()
 
@@ -17,5 +15,5 @@ rmvl_add_exe(
   rmvl_hik_armor_size_classify
   SOURCES sample_hik_armor_size_classify.cpp
   DEPENDS hik_camera armor_detector
-  EXTERNAL ${OpenCV_LIBS}
+  EXTERNAL opencv_highgui opencv_calib3d opencv_ml
 )
diff --git a/samples/detector/mv/CMakeLists.txt b/samples/detector/mv/CMakeLists.txt
index 89d69eaa..1e787e75 100644
--- a/samples/detector/mv/CMakeLists.txt
+++ b/samples/detector/mv/CMakeLists.txt
@@ -2,14 +2,12 @@ if(NOT BUILD_rmvl_mv_camera OR NOT BUILD_rmvl_armor_detector)
   return()
 endif()
 
-find_package(OpenCV COMPONENTS highgui REQUIRED)
-
 if(HAVE_FILESYSTEM)
   rmvl_add_exe(
     rmvl_mv_armor_collection
     SOURCES sample_mv_armor_collection.cpp
     DEPENDS mv_camera armor_detector
-    EXTERNAL ${OpenCV_LIBS}
+    EXTERNAL opencv_highgui opencv_calib3d
   )
 endif()
 
@@ -17,5 +15,5 @@ rmvl_add_exe(
   rmvl_mv_armor_size_classify
   SOURCES sample_mv_armor_size_classify.cpp
   DEPENDS mv_camera armor_detector
-  EXTERNAL ${OpenCV_LIBS}
+  EXTERNAL opencv_highgui opencv_calib3d opencv_ml
 )