ORB_SLAM2_CUDA : Make failed - Compiling examples - Undefined References

 I am getting this issue when building ORB_SLAM2_CUDA

[ 73%] Linking CXX executable rgbd_tum
../lib/libORB_SLAM2_CUDA.so: undefined reference to cv::cuda::createGaussianFilter(int, int, cv::Size_, double, double, int, int)' ../lib/libORB_SLAM2_CUDA.so: undefined reference to cv::cuda::copyMakeBorder(cv::_InputArray const&, cv::OutputArray const&, int, int, int, int, int, cv::Scalar, cv::cuda::Stream&)'
../lib/libORB_SLAM2_CUDA.so: undefined reference to cv::cuda::resize(cv::_InputArray const&, cv::OutputArray const&, cv::Size, double, double, int, cv::cuda::Stream&)' ../lib/libORB_SLAM2_CUDA.so: undefined reference to cv::cuda::StreamAccessor::wrapStream(CUstream_st*)'
collect2: error: ld returned 1 exit status
CMakeFiles/rgbd_tum.dir/build.make:162: recipe for target 'rgbd_tum' failed
make[2]: *** [rgbd_tum] Error 1
CMakeFiles/Makefile2:104: recipe for target 'CMakeFiles/rgbd_tum.dir/all' failed
make[1]: *** [CMakeFiles/rgbd_tum.dir/all] Error 2
Makefile:83: recipe for target 'all' failed
make: *** [all] Error 2

Solution:

Change the line99~line105  in  CMakeLIst.txt

target_link_libraries(${PROJECT_NAME}
${OpenCV_LIBS}
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
nvToolsExt
)

To

target_link_libraries(${PROJECT_NAME}
${OpenCV_LIBS}
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
nvToolsExt
opencv_cudabgsegm
opencv_cudaobjdetect
opencv_cudastereo
opencv_cudafeatures2d
opencv_cudacodec
opencv_cudaoptflow
opencv_cudalegacy
opencv_cudawarping
opencv_cudaimgproc
opencv_cudafilters
)