OpenCV SFM module has undefined references to other OpenCV modules - c++

Question

I have built OpenCV 4.5.5 from source on Ubuntu 20.04.4 LTS with the sfm contrib module and I am trying to use it for scene reconstruction. The libraries were built successfully, however, whenever I call cv::sfm::reconstruct, I get the following linker errors when tying to build my program:
/usr/bin/ld: /usr/local/lib/x86_64-linux-gnu/libopencv_sfm.so.4.5.5: undefined reference to `cv::FlannBasedMatcher::add(cv::_InputArray const&)'
/usr/bin/ld: /usr/local/lib/x86_64-linux-gnu/libopencv_sfm.so.4.5.5: undefined reference to `cv::Mat::copyTo(cv::_OutputArray const&) const'
/usr/bin/ld: /usr/local/lib/x86_64-linux-gnu/libopencv_sfm.so.4.5.5: undefined reference to `cv::DescriptorMatcher::knnMatch(cv::_InputArray const&, std::vector<std::vector<cv::DMatch, std::allocator<cv::DMatch> >, std::allocator<std::vector<cv::DMatch, std::allocator<cv::DMatch> > > >&, int, cv::_InputArray const&, bool)'
/usr/bin/ld: /usr/local/lib/x86_64-linux-gnu/libopencv_sfm.so.4.5.5: undefined reference to `libmv::MotionFromEssential(Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, std::__debug::vector<Eigen::Matrix<double, 3, 3, 0, 3, 3>, std::allocator<Eigen::Matrix<double, 3, 3, 0, 3, 3> > >*, std::__debug::vector<Eigen::Matrix<double, 3, 1, 0, 3, 1>, std::allocator<Eigen::Matrix<double, 3, 1, 0, 3, 1> > >*)'
/usr/bin/ld: /usr/local/lib/x86_64-linux-gnu/libopencv_sfm.so.4.5.5: undefined reference to `libmv::correspondence::nRobustViewMatching::computeCrossMatch(std::__debug::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > const&)'
collect2: error: ld returned 1 exit status
I have tried recompiling OpenCV with the sfm module and all its dependencies a number of different ways but nothing seems to solve this problem.
The issue seems to be that libopencv_sfm.so is being linked incorrectly somehow and can't find symbols from the other OpenCV modules. I have checked that the linker can find cv::FlannBasedMatcher::add when not called by libopencv_sfm.so and it works when called directly from my program. Running ldconfig on /usr/local/lib/x86_64-linux-gnu also didn't work.
Here's how I'm linking my code against OpenCV with CMake (note: not the top-level CMakeLists):
# Target name
project(sfmPointCloud)
# Setting variables
set(SRC_DIR "${CMAKE_CURRENT_SOURCE_DIR}/src")
set(INCLUDE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/include")
# Creating executable target
add_executable(
${PROJECT_NAME}
"${INCLUDE_DIR}/logger.h"
"${SRC_DIR}/main.cpp"
"${SRC_DIR}/cmdline_parser.cpp"
"${SRC_DIR}/sfmPointCloud.cpp"
)
# Setting target's properties
set_target_properties(
${PROJECT_NAME} PROPERTIES
LINKER_LANGUAGE CXX
CXX_STANDARD 20
)
# Instruct basic signature of `find_package` function to fall back to "Config"
# mode immediately instead of trying "Module" mode first since no libraries used
# provide a Find Module
set(CMAKE_FIND_PACKAGE_PREFER_CONFIG TRUE)
# Setting up OpenCV
message(STATUS "Searching for OpenCV package")
find_package(
OpenCV 4.5.5 REQUIRED
COMPONENTS core imgcodecs imgproc features2d calib3d xfeatures2d sfm
)
# Setting include directories and linking libraries
target_include_directories(
${PROJECT_NAME}
PRIVATE ${INCLUDE_DIR} # internal header files
PRIVATE "/usr/local/include/opencv4" # opencv2/
)
target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBS})