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undefined reference

means, you're not linking some required lib,

(in your case, ALL of the opencv libs are missing from the cmdline !)

try again with:

g++ main.cpp -I/opt/robots/pepper/ctc-linux64-atom-2.5.10.7/opencv2/include/ -L/opt/robots/pepper/ctc-linux64-atom-2.5.10.7/opencv2/lib -lopencv_core -lopencv_highgui -lopencv_imgcodecs -lopencv_imgproc

undefined reference

means, you're not linking some required lib,

(in your case, ALL of the opencv libs are missing from the cmdline !)

try again with:

g++ main.cpp -I/opt/robots/pepper/ctc-linux64-atom-2.5.10.7/opencv2/include/ -L/opt/robots/pepper/ctc-linux64-atom-2.5.10.7/opencv2/lib -lopencv_core -lopencv_highgui -lopencv_imgcodecs -lopencv_imgproc
-lopencv_imgproc -lopencv_videoio