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Can you take a look at [source_dir]/release/unix-install/opencv.pc ?

When I call cmake on my machine, the .pc file is generated badly - the Libs: field ends with: rt pthread m dl, presumably it should end with -lrt -lpthread -lm -ldl.

Building any opencv projects with pkg-config, I got the same error that you do, and the error is fixed by making the appropriate change to opencv.pc.

(NB - of course pkg-config doesn't look in [source_dir]/build/unix-install for opencv.pc. If you want to do a quick test of changing the .pc file and recompiling your application, make sure you're editing the opencv.pc in /usr/lib/pkgconfig or /usr/local/lib/pkgconfig)