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It seems that in order to get the cuda functionality working you need to explicitly include the CUDA header of that function. This setup did it just fine on my system

#include <opencv2/opencv.hpp>
#include <opencv2/cuda.hpp>
#include <opencv2/cudaimgproc.hpp>

using namespace cv;

int main() {
    Mat src = imread("car1080.jpg", 0);
    if (!src.data) exit(1);
    cuda::GpuMat d_src(src);
    cuda::GpuMat d_dst;
    cuda::bilateralFilter(d_src, d_dst, -1, 50, 7);
    cv::Canny(d_dst, d_dst, 35, 200, 3);
    Mat dst(d_dst);
    imwrite("out.png", dst);
    return 0;
}

It seems that in order to get the cuda functionality working you need to explicitly include the CUDA header of that function. This setup did it just fine on my system

#include <opencv2/opencv.hpp>
#include <opencv2/cuda.hpp>
#include <opencv2/cudaimgproc.hpp>

using namespace cv;

int main() {
    Mat src = imread("car1080.jpg", imread("/home/spu/Desktop/test.jpg", 0);
    if (!src.data) exit(1);
    cuda::GpuMat d_src(src);
    cuda::GpuMat d_dst;
    cuda::bilateralFilter(d_src, d_dst, -1, 50, 7);
    cv::Canny(d_dst, d_dst, Mat dst;
    d_dst.download(dst);
    cv::Canny(dst, dst, 35, 200, 3);
    Mat dst(d_dst);
    imwrite("out.png", dst);
resize(dst, dst, Size(dst.cols/3, dst.rows/3));
    imshow("test", dst); waitKey(0);
    return 0;
}