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I found the solution, just modify line 39
target_link_libraries(${the_target} ${OPENCV_LINKER_LIBS} ${OPENCV_GPU_SAMPLES_REQUIRED_DEPS})
to
target_link_libraries(${the_target} ${OPENCV_LINKER_LIBS} ${OPENCV_GPU_SAMPLES_REQUIRED_DEPS} cuda)
in "opencv-2.4.6.1/samples/gpu/CMakeLists.txt" can easily fix this problem
