build errors on ubuntu 16.04

[EnyaHermite]

The configuration of my machine is ubuntu16.04, cuda8.0. I installed pcl-1.8 successfully with the deb file provided by this website: https://larrylisky.com/2016/11/03/point-cloud-library-on-ubuntu-16-04-lts/.
As to opencv, I am using the 3.2 version. I have replaced the opencv_cntrib library with features2d and objdetect, and imgproc sicne these are the headers files included in contrib.hpp. Meanwhile, target_link_libraries(... opencv_contrib ...) in the cudaPcl CMakeLists are also replaced with the corresponding libraries. Now, I still cannot make cudaPcl successfully. Detailedly, the following errors are reported:

-- cudaPcl

[ 25%] Built target cudaPcl
[ 32%] Built target testSurfelRender
[ 42%] Built target renderPcFromPc
[ 46%] Linking CXX executable bin/openniPyramid
/usr/bin/ld: CMakeFiles/openniPyramid.dir/src/openniPyramid.o: undefined reference to symbol '_ZN2cv7imwriteERKNS_6StringERKNS_11_InputArrayERKSt6vectorIiSaIiEE'
/media/hlei/research/opencv/release/lib/libopencv_imgcodecs.so.3.2: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status
CMakeFiles/openniPyramid.dir/build.make:105: recipe for target 'bin/openniPyramid' failed
make[4]: *** [bin/openniPyramid] Error 1
CMakeFiles/Makefile2:141: recipe for target 'CMakeFiles/openniPyramid.dir/all' failed
make[3]: *** [CMakeFiles/openniPyramid.dir/all] Error 2
Makefile:127: recipe for target 'all' failed
make[2]: *** [all] Error 2
Makefile:31: recipe for target 'all' failed
make[1]: *** [all] Error 2
Makefile:30: recipe for target 'main' failed
make: *** [main] Error 2

I installed openni on my machine with sudo apt-get install libopenni-dev. In addition, my machine has openni2 as well. Do you have any suggestions?

[EnyaHermite]

needs opencv_imgcodecs lib. After adding this into the target_link_libraries, now the compilation goes to this:

-- Configuring done
WARNING: Target "testSurfelRender" requests linking to directory "/usr/local/lib". Targets may link only to libraries. CMake is dropping the item.
-- Generating done
-- Build files have been written to: /media/hlei/research/tip_revise/dpOptTrans/cudaPcl/pod-build
[ 3%] Linking CXX shared library lib/libcudaPcl.so
[ 25%] Built target cudaPcl
[ 28%] Linking CXX executable bin/testSurfelRender
[ 32%] Built target testSurfelRender
[ 42%] Built target renderPcFromPc
Scanning dependencies of target openniPyramid
[ 46%] Building CXX object CMakeFiles/openniPyramid.dir/src/openniPyramid.o
In file included from /media/hlei/research/tip_revise/dpOptTrans/cudaPcl/src/openniPyramid.cpp:12:0:
/media/hlei/research/tip_revise/dpOptTrans/cudaPcl/pod-build/include/cudaPcl/openniPyramid.hpp: In member function ‘virtual void cudaPcl::OpenniPyramid::depth_cb(const uint16_t*, uint32_t, uint32_t)’:
/media/hlei/research/tip_revise/dpOptTrans/cudaPcl/pod-build/include/cudaPcl/openniPyramid.hpp:143:18: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
if(dC_pyr.cols > w)
^
/media/hlei/research/tip_revise/dpOptTrans/cudaPcl/pod-build/include/cudaPcl/openniPyramid.hpp:145:21: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
if(gray_pyr_.cols > w)
^
[ 50%] Linking CXX executable bin/openniPyramid
[ 50%] Built target openniPyramid
Scanning dependencies of target openniSmoothNormals_file
[ 53%] Building CXX object CMakeFiles/openniSmoothNormals_file.dir/src/openniSmoothNormals_file.o
In file included from /media/hlei/research/tip_revise/dpOptTrans/build/include/jsCore/gpuMatrix.hpp:12:0,
from /media/hlei/research/tip_revise/dpOptTrans/cudaPcl/pod-build/include/cudaPcl/depthGuidedFilter.hpp:14,
from /media/hlei/research/tip_revise/dpOptTrans/cudaPcl/src/openniSmoothNormals_file.cpp:19:
/media/hlei/research/tip_revise/dpOptTrans/build/include/nvidia/helper_cuda.h: In function ‘const char* _cudaGetErrorEnum(cudaError_t)’:
/media/hlei/research/tip_revise/dpOptTrans/build/include/nvidia/helper_cuda.h:68:12: warning: enumeration value ‘cudaErrorNvlinkUncorrectable’ not handled in switch [-Wswitch]
switch (error)
^
[ 57%] Linking CXX executable bin/openniSmoothNormals_file
[ 57%] Built target openniSmoothNormals_file
Scanning dependencies of target rndTransformPc
[ 60%] Building CXX object CMakeFiles/rndTransformPc.dir/src/randomlyTransformPointClouds.o
[ 64%] Linking CXX executable bin/rndTransformPc
[ 64%] Built target rndTransformPc
Scanning dependencies of target openniSmoothDepth
[ 67%] Building CXX object CMakeFiles/openniSmoothDepth.dir/src/openniSmoothDepth.o
In file included from /media/hlei/research/tip_revise/dpOptTrans/build/include/jsCore/gpuMatrix.hpp:12:0,
from /media/hlei/research/tip_revise/dpOptTrans/cudaPcl/pod-build/include/cudaPcl/depthGuidedFilter.hpp:14,
from /media/hlei/research/tip_revise/dpOptTrans/cudaPcl/pod-build/include/cudaPcl/openniSmoothDepthGpu.hpp:14,
from /media/hlei/research/tip_revise/dpOptTrans/cudaPcl/src/openniSmoothDepth.cpp:12:
/media/hlei/research/tip_revise/dpOptTrans/build/include/nvidia/helper_cuda.h: In function ‘const char* _cudaGetErrorEnum(cudaError_t)’:
/media/hlei/research/tip_revise/dpOptTrans/build/include/nvidia/helper_cuda.h:68:12: warning: enumeration value ‘cudaErrorNvlinkUncorrectable’ not handled in switch [-Wswitch]
switch (error)
^
[ 71%] Linking CXX executable bin/openniSmoothDepth
[ 71%] Built target openniSmoothDepth
Scanning dependencies of target pclNormals
[ 75%] Building CXX object CMakeFiles/pclNormals.dir/src/pclNormals.o
[ 78%] Linking CXX executable bin/pclNormals
/usr/bin/ld: cannot find -lXnVNite
collect2: error: ld returned 1 exit status
CMakeFiles/pclNormals.dir/build.make:100: recipe for target 'bin/pclNormals' failed
make[4]: *** [bin/pclNormals] Error 1
CMakeFiles/Makefile2:358: recipe for target 'CMakeFiles/pclNormals.dir/all' failed
make[3]: *** [CMakeFiles/pclNormals.dir/all] Error 2
Makefile:127: recipe for target 'all' failed
make[2]: *** [all] Error 2
Makefile:31: recipe for target 'all' failed
make[1]: *** [all] Error 2
Makefile:30: recipe for target 'main' failed
make: *** [main] Error 2