Cannot get OpenCV to compile because of undefined references?

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This is a linker issue. Try:

g++ -o test_1 test_1.cpp `pkg-config opencv --cflags --libs`

This should work to compile the source. However, if you recently compiled OpenCV from source, you will meet linking issue in run-time, the library will not be found.
In most cases, after compiling libraries from source, you need to do finally:

sudo ldconfig

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