Linked opencv with CUDA supported version for a project, but it throws "throw_no_cuda"

Hello.

I am currently try to test some cuda-accelerated functionalities applied to a open source visual-inertial odomertry vins_mono, in ubuntu 20.04.

I replaced cv::goodFeaturesToTrack(~~) with cv::cuda::CornersDetector::detect() fucntion as follows

#if USE_CUDA
        cv::Ptr<cv::cuda::CornersDetector>detector_ = cv::cuda::createGoodFeaturesToTrackDetector(CV_8UC1, MAX_CNT, 0.01, MIN_DIST, 3);
detector_->detect(img,   n_pts, mask=mask);
    #endif

Here is the part of CMakeLists.txt for the project which find_package OpenCV

find_package(OpenCV 4.5 REQUIRED)

message(WARNING "OpenCV_VERSION: ${OpenCV_VERSION}")
message("Open CV libs : ${OpenCV_LIBS}")

From the image below, I think that the project is properly built with a desired version of Opencv built with Cuda.

However, when I launch the program, the program dies with the following error code.

terminate called after throwing an instance of 'cv::Exception'
  what():  OpenCV(4.2.0) ../modules/core/include/opencv2/core/private.cuda.hpp:109: error: (-216:No CUDA support) The library is compiled without CUDA support in function 'throw_no_cuda'

It seems like somehow the program runs with OpenCV 4.2.0(which is not built with CUDA support) which is installed with ROS package, although I checked that it was built with the CUDA 4.5.2 version with CUDA support.

What could be going wrong here?

The warning message when building the code(=content of the image) is as follows.

----------------------------------------------------------------
CMake Warning at /home/larr-uav-laptop/catkin_ws/src/vins_mono/feature_tracker/CMakeLists.txt:18 (message):
  OpenCV_VERSION: 4.5.2


Open CV libs : opencv_calib3d;opencv_core;opencv_dnn;opencv_features2d;opencv_flann;opencv_gapi;opencv_highgui;opencv_imgcodecs;opencv_imgproc;opencv_ml;opencv_objdetect;opencv_photo;opencv_stitching;opencv_video;opencv_videoio;opencv_alphamat;opencv_aruco;opencv_bgsegm;opencv_bioinspired;opencv_ccalib;opencv_cudaarithm;opencv_cudabgsegm;opencv_cudafeatures2d;opencv_cudafilters;opencv_cudaimgproc;opencv_cudalegacy;opencv_cudaobjdetect;opencv_cudaoptflow;opencv_cudastereo;opencv_cudawarping;opencv_cudev;opencv_datasets;opencv_dnn_objdetect;opencv_dnn_superres;opencv_dpm;opencv_face;opencv_freetype;opencv_fuzzy;opencv_hdf;opencv_hfs;opencv_img_hash;opencv_intensity_transform;opencv_line_descriptor;opencv_mcc;opencv_optflow;opencv_phase_unwrapping;opencv_plot;opencv_quality;opencv_rapid;opencv_reg;opencv_rgbd;opencv_saliency;opencv_sfm;opencv_shape;opencv_stereo;opencv_structured_light;opencv_superres;opencv_surface_matching;opencv_text;opencv_tracking;opencv_videostab;opencv_viz;opencv_wechat_qrcode;opencv_xfeatures2d;opencv_ximgproc;opencv_xobjdetect;opencv_xphoto
cd /home/larr-uav-laptop/catkin_ws/build/feature_tracker; catkin build --get-env feature_tracker | catkin env -si  /usr/bin/cmake /home/larr-uav-laptop/catkin_ws/src/vins_mono/feature_tracker --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/larr-uav-laptop/catkin_ws/devel/.private/feature_tracker -DCMAKE_INSTALL_PREFIX=/home/larr-uav-laptop/catkin_ws/install; cd -

...................................................................................................
___________________________________________________________________________________________________
Warnings   << feature_tracker:make /home/larr-uav-laptop/catkin_ws/logs/feature_tracker/build.make.008.log
/usr/bin/ld: warning: libopencv_calib3d.so.4.5, needed by /home/larr-uav-laptop/catkin_ws/devel/.private/camera_model/lib/libcamera_model.so, may conflict with libopencv_calib3d.so.4.2
/usr/bin/ld: warning: libopencv_imgproc.so.4.5, needed by /home/larr-uav-laptop/catkin_ws/devel/.private/camera_model/lib/libcamera_model.so, may conflict with libopencv_imgproc.so.4.2
/usr/bin/ld: warning: libopencv_core.so.4.5, needed by /home/larr-uav-laptop/catkin_ws/devel/.private/camera_model/lib/libcamera_model.so, may conflict with libopencv_core.so.4.2
cd /home/larr-uav-laptop/catkin_ws/build/feature_tracker; catkin build --get-env feature_tracker | catkin env -si  /usr/bin/make --jobserver-auth=3,4; cd -

Could you share the result of cv::getBuildInformation ?
This result will give you build information of OpenCV.

If you used libopencv-dev installed via apt, this package was build without CUDA.

Thank you for your reply. Here is the getBuildInformation() result

 WARN] [1656655245.420383036]: Build Information : 
General configuration for OpenCV 4.2.0 =====================================
  Version control:               unknown

  Extra modules:
    Location (extra):            /build/opencv-YsXJoR/opencv-4.2.0+dfsg/contrib/modules
    Version control (extra):     unknown

  Platform:
    Timestamp:                   2020-02-18T03:31:25Z
    Host:                        Linux 4.4.0-173-generic x86_64
    CMake:                       3.16.3
    CMake generator:             Ninja
    CMake build tool:            /usr/bin/ninja
    Configuration:               Release

  CPU/HW features:
    Baseline:                    SSE SSE2
      requested:                 SSE2
      disabled:                  SSE3
    Dispatched code generation:  SSE4_1 SSE4_2 FP16 AVX AVX2 AVX512_SKX
      requested:                 SSE4_1 SSE4_2 AVX FP16 AVX2 AVX512_SKX
      SSE4_1 (13 files):         + SSE3 SSSE3 SSE4_1
      SSE4_2 (1 files):          + SSE3 SSSE3 SSE4_1 POPCNT SSE4_2
      FP16 (0 files):            + SSE3 SSSE3 SSE4_1 POPCNT SSE4_2 FP16 AVX
      AVX (4 files):             + SSE3 SSSE3 SSE4_1 POPCNT SSE4_2 AVX
      AVX2 (26 files):           + SSE3 SSSE3 SSE4_1 POPCNT SSE4_2 FP16 FMA3 AVX AVX2
      AVX512_SKX (3 files):      + SSE3 SSSE3 SSE4_1 POPCNT SSE4_2 FP16 FMA3 AVX AVX2 AVX_512F AVX512_COMMON AVX512_SKX

  C/C++:
    Built as dynamic libs?:      YES
    C++ Compiler:                /usr/bin/c++  (ver 9.2.1)
    C++ flags (Release):         -g -O2 -fdebug-prefix-map=/build/opencv-YsXJoR/opencv-4.2.0+dfsg=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2   -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wuninitialized -Winit-self -Wsuggest-override -Wno-delete-non-virtual-dtor -Wno-comment -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -Wno-long-long -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections  -msse -msse2 -fvisibility=hidden -fvisibility-inlines-hidden -g -O2 -fdebug-prefix-map=/build/opencv-YsXJoR/opencv-4.2.0+dfsg=. -fstack-protector-strong -Wformat -Werror=format-security  -DNDEBUG
    C++ flags (Debug):           -g -O2 -fdebug-prefix-map=/build/opencv-YsXJoR/opencv-4.2.0+dfsg=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2   -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wuninitialized -Winit-self -Wsuggest-override -Wno-delete-non-virtual-dtor -Wno-comment -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -Wno-long-long -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections  -msse -msse2 -fvisibility=hidden -fvisibility-inlines-hidden -g  -DDEBUG -D_DEBUG
    C Compiler:                  /usr/bin/cc
    C flags (Release):           -g -O2 -fdebug-prefix-map=/build/opencv-YsXJoR/opencv-4.2.0+dfsg=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2   -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wmissing-prototypes -Wstrict-prototypes -Wundef -Winit-self -Wpointer-arith -Wshadow -Wuninitialized -Winit-self -Wno-comment -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -Wno-long-long -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections  -msse -msse2 -fvisibility=hidden -g -O2 -fdebug-prefix-map=/build/opencv-YsXJoR/opencv-4.2.0+dfsg=. -fstack-protector-strong -Wformat -Werror=format-security  -DNDEBUG
    C flags (Debug):             -g -O2 -fdebug-prefix-map=/build/opencv-YsXJoR/opencv-4.2.0+dfsg=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2   -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wmissing-prototypes -Wstrict-prototypes -Wundef -Winit-self -Wpointer-arith -Wshadow -Wuninitialized -Winit-self -Wno-comment -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -Wno-long-long -pthread -fomit-frame-pointer -ffunction-sections -fdata-sections  -msse -msse2 -fvisibility=hidden -g  -DDEBUG -D_DEBUG
    Linker flags (Release):      -Wl,-Bsymbolic-functions -Wl,-z,relro -Wl,-z,now  -Wl,--gc-sections -Wl,-Bsymbolic-functions -Wl,-z,relro -Wl,-z,now 
    Linker flags (Debug):        -Wl,-Bsymbolic-functions -Wl,-z,relro -Wl,-z,now  -Wl,--gc-sections  
    ccache:                      NO
    Precompiled headers:         NO
    Extra dependencies:          dl m pthread rt
    3rdparty dependencies:

  OpenCV modules:
    To be built:                 aruco bgsegm bioinspired calib3d ccalib core datasets dnn dnn_objdetect dnn_superres dpm face features2d flann freetype fuzzy hdf hfs highgui img_hash imgcodecs imgproc java line_descriptor ml objdetect optflow phase_unwrapping photo plot python3 quality reg rgbd saliency shape stereo stitching structured_light superres surface_matching text tracking video videoio videostab viz ximgproc xobjdetect xphoto
    Disabled:                    world
    Disabled by dependency:      sfm
    Unavailable:                 cnn_3dobj cudaarithm cudabgsegm cudacodec cudafeatures2d cudafilters cudaimgproc cudalegacy cudaobjdetect cudaoptflow cudastereo cudawarping cudev cvv gapi js matlab ovis python2 ts
    Applications:                apps
    Documentation:               doxygen python javadoc
    Non-free algorithms:         NO

  GUI: 
    GTK+:                        YES (ver 3.24.13)
      GThread :                  YES (ver 2.63.3)
      GtkGlExt:                  NO
    OpenGL support:              NO
    VTK support:                 YES (ver 6.3.0)

  Media I/O: 
    ZLib:                        /usr/lib/x86_64-linux-gnu/libz.so (ver 1.2.11)
    JPEG:                        /usr/lib/x86_64-linux-gnu/libjpeg.so (ver 80)
    WEBP:                        /usr/lib/x86_64-linux-gnu/libwebp.so (ver encoder: 0x020e)
    PNG:                         /usr/lib/x86_64-linux-gnu/libpng.so (ver 1.6.37)
    TIFF:                        /usr/lib/x86_64-linux-gnu/libtiff.so (ver 42 / 4.1.0)
    OpenEXR:                     /usr/lib/x86_64-linux-gnu/libImath.so /usr/lib/x86_64-linux-gnu/libIlmImf.so /usr/lib/x86_64-linux-gnu/libIex.so /usr/lib/x86_64-linux-gnu/libHalf.so /usr/lib/x86_64-linux-gnu/libIlmThread.so (ver 2.3.0)
    GDAL:                        YES (/usr/lib/libgdal.so)
    GDCM:                        YES (3.0.4)
    HDR:                         YES
    SUNRASTER:                   YES
    PXM:                         YES
    PFM:                         YES

  Video I/O:
    DC1394:                      YES (2.2.5)
    FFMPEG:                      YES
      avcodec:                   YES (58.54.100)
      avformat:                  YES (58.29.100)
      avutil:                    YES (56.31.100)
      swscale:                   YES (5.5.100)
      avresample:                YES (4.0.0)
    GStreamer:                   YES (1.16.2)
    PvAPI:                       NO
    v4l/v4l2:                    YES (linux/videodev2.h)

  Parallel framework:            TBB (ver 2020.1 interface 11101)

  Trace:                         YES (built-in)

  Other third-party libraries:
    Lapack:                      NO
    Eigen:                       YES (ver 3.3.7)
    Custom HAL:                  NO
    Protobuf:                    /usr/lib/x86_64-linux-gnu/libprotobuf.so (3.6.1)

  OpenCL:                        YES (no extra features)
    Include path:                /usr/include/CL
    Link libraries:              Dynamic load

  Python 3:
    Interpreter:                 /usr/bin/python3 (ver 3.8.2)
    Libraries:                   /usr/lib/x86_64-linux-gnu/libpython3.8.so (ver 3.8.2rc1)
    numpy:                       /usr/lib/python3/dist-packages/numpy/core/include (ver 1.17.4)
    install path:                lib/python3.8/dist-packages

  Python (for build):            /usr/bin/python3

  Java:                          
    ant:                         /usr/bin/ant (ver 1.10.7)
    JNI:                         /usr/lib/jvm/default-java/include /usr/lib/jvm/default-java/include/linux /usr/lib/jvm/default-java/include
    Java wrappers:               YES
    Java tests:                  NO

  Install to:                    /usr
-----------------------------------------------------------------

So apparently somehow it is built with opencv4.2.0 … which is default installed by ROS and without cuda support.