Ошибка при использовании детектора SURF в opencv внутри ROS

Я пытался перенести код, использующий SURF, из «чистого» OpenCV в c ++ в код ROS cpp. Проблема в том, что когда я включаю строку Surf Detector, компилятор показывает мне ошибку после Linkin в исполняемом файле, которого я раньше не видел.
Это мой код:

#include <ros/ros.h>
#include <image_transport/image_transport.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <stdio.h>
#include <iostream>
#include "opencv2/core/core.hpp"#include "opencv2/features2d/features2d.hpp"#include "opencv2/nonfree/features2d.hpp"#include "opencv2/nonfree/nonfree.hpp"
using namespace cv;
using namespace std;
static const std::string OPENCV_WINDOW = "Image window";
class ImageConverter
{
ros::NodeHandle nh_;
image_transport::ImageTransport it_;
image_transport::Subscriber image_sub_;
image_transport::Publisher image_pub_;

public:
ImageConverter()
: it_(nh_)
{
// Subscribe to input video feed and publish output video feed
image_sub_ = it_.subscribe("/ardrone/front/image_raw", 1,
&ImageConverter::imageCb, this);
image_pub_ = it_.advertise("/image_converter/output_video", 1);

namedWindow(OPENCV_WINDOW);
}

~ImageConverter()
{
destroyWindow(OPENCV_WINDOW);
}

void imageCb(const sensor_msgs::ImageConstPtr& msg)
{
cv_bridge::CvImagePtr cv_ptr;
try
{
cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8);
}
catch (cv_bridge::Exception& e)
{
ROS_ERROR("cv_bridge exception: %s", e.what());
return;
}

// Draw an example circle on the video stream

Mat img_hsv;
//cv::Mat img_gauss;
//cv::Mat img_thr;
//cv::GaussianBlur(cv_ptr->image, img_gauss, cv::Size(9,9), 1.5, 1.5);
cvtColor(cv_ptr->image,img_hsv,CV_BGR2GRAY);
//cv::inRange(img_hsv, cv::Scalar(60, 30, 20), cv::Scalar(140, 170, 128), img_hsv);
// Update GUI Window
//cv::imshow(OPENCV_WINDOW, cv_ptr->image);
//cv::imshow(OPENCV_WINDOW, img_hsv);
cv::imshow(OPENCV_WINDOW, img_hsv);
int minHessian = 400;
SurfFeatureDetector detector( minHessian );
waitKey(3);

// Output modified video stream
image_pub_.publish(cv_ptr->toImageMsg());
}
};

int main(int argc, char** argv)
{
ros::init(argc, argv, "image_converter");
ImageConverter ic;
ros::spin();
return 0;
}

Линия, которая ломает все, такова:

SurfFeatureDetector detector( minHessian );

Ошибка, которую показывает мне компилятор:

Linking CXX executable /home/edrone/catkin_ws/devel/lib/stream/stream_node
CMakeFiles/stream_node.dir/src/stream_node.cpp.o: In function     `ImageConverter::imageCb(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)':
stream_node.cpp:  (.text._ZN14ImageConverter7imageCbERKN5boost10shared_ptrIKN11sensor_msgs6Image_ISaIvEEEEE[_ZN14ImageConverter7imageCbERKN5boost10shared_ptrIKN11sensor_msgs6Image_ISaIvEEEEE]+0x134): undefined reference to `cv::SURF::SURF(double, int, int, bool, bool)'
CMakeFiles/stream_node.dir/src/stream_node.cpp.o: In function `cv::SURF::~SURF()':
stream_node.cpp:(.text._ZN2cv4SURFD1Ev[_ZN2cv4SURFD1Ev]+0xe): undefined reference to `vtable for cv::SURF'
stream_node.cpp:(.text._ZN2cv4SURFD1Ev[_ZN2cv4SURFD1Ev]+0x26): undefined reference to `vtable for cv::SURF'
stream_node.cpp:(.text._ZN2cv4SURFD1Ev[_ZN2cv4SURFD1Ev]+0x2e): undefined reference to `vtable for cv::SURF'
stream_node.cpp:(.text._ZN2cv4SURFD1Ev[_ZN2cv4SURFD1Ev]+0x3b): undefined reference to `VTT for cv::SURF'
collect2: error: ld returned 1 exit status
make[2]: *** [/home/edrone/catkin_ws/devel/lib/stream/stream_node] Error 1
make[1]: *** [stream/CMakeFiles/stream_node.dir/all] Error 2
make: *** [all] Error 2
Invoking "make -j8 -l8" failed

Спасибо за совет!

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