• OpenCV => :4.8.1:
• Operating System / Platform => :ubuntu20.04:
• Compiler => :g++:

In cmake, select with_opengl=on，my qt version is 6.5.3. The following error occurred at compile time

/usr/bin/ld: CMakeFiles/opencv_rgbd.dir/src/dynafu.cpp.o: in function cv::dynafu::DynaFuImpl<cv::Mat>::DynaFuImpl(cv::kinfu::Params const&)': dynafu.cpp:(.text._ZN2cv6dynafu10DynaFuImplINS_3MatEEC2ERKNS_5kinfu6ParamsE[_ZN2cv6dynafu10DynaFuImplINS_3MatEEC5ERKNS_5kinfu6ParamsE]+0x3ec): undefined reference to glGenRenderbuffersEXT'
/usr/bin/ld: dynafu.cpp:(.text._ZN2cv6dynafu10DynaFuImplINS_3MatEEC2ERKNS_5kinfu6ParamsE[_ZN2cv6dynafu10DynaFuImplINS_3MatEEC5ERKNS_5kinfu6ParamsE]+0x3f9): undefined reference to glBindRenderbufferEXT' /usr/bin/ld: dynafu.cpp:(.text._ZN2cv6dynafu10DynaFuImplINS_3MatEEC2ERKNS_5kinfu6ParamsE[_ZN2cv6dynafu10DynaFuImplINS_3MatEEC5ERKNS_5kinfu6ParamsE]+0x410): undefined reference to glRenderbufferStorageEXT'
/usr/bin/ld: dynafu.cpp:(.text._ZN2cv6dynafu10DynaFuImplINS_3MatEEC2ERKNS_5kinfu6ParamsE[_ZN2cv6dynafu10DynaFuImplINS_3MatEEC5ERKNS_5kinfu6ParamsE]+0x41e): undefined reference to glGenFramebuffersEXT' /usr/bin/ld: dynafu.cpp:(.text._ZN2cv6dynafu10DynaFuImplINS_3MatEEC2ERKNS_5kinfu6ParamsE[_ZN2cv6dynafu10DynaFuImplINS_3MatEEC5ERKNS_5kinfu6ParamsE]+0x42b): undefined reference to glBindFramebufferEXT'
/usr/bin/ld: dynafu.cpp:(.text._ZN2cv6dynafu10DynaFuImplINS_3MatEEC2ERKNS_5kinfu6ParamsE[_ZN2cv6dynafu10DynaFuImplINS_3MatEEC5ERKNS_5kinfu6ParamsE]+0x442): undefined reference to glFramebufferRenderbufferEXT' /usr/bin/ld: dynafu.cpp:(.text._ZN2cv6dynafu10DynaFuImplINS_3MatEEC2ERKNS_5kinfu6ParamsE[_ZN2cv6dynafu10DynaFuImplINS_3MatEEC5ERKNS_5kinfu6ParamsE]+0x450): undefined reference to glGenRenderbuffersEXT'
/usr/bin/ld: dynafu.cpp:(.text._ZN2cv6dynafu10DynaFuImplINS_3MatEEC2ERKNS_5kinfu6ParamsE[_ZN2cv6dynafu10DynaFuImplINS_3MatEEC5ERKNS_5kinfu6ParamsE]+0x45d): undefined reference to glBindRenderbufferEXT' /usr/bin/ld: dynafu.cpp:(.text._ZN2cv6dynafu10DynaFuImplINS_3MatEEC2ERKNS_5kinfu6ParamsE[_ZN2cv6dynafu10DynaFuImplINS_3MatEEC5ERKNS_5kinfu6ParamsE]+0x474): undefined reference to glRenderbufferStorageEXT'
/usr/bin/ld: dynafu.cpp:(.text._ZN2cv6dynafu10DynaFuImplINS_3MatEEC2ERKNS_5kinfu6ParamsE[_ZN2cv6dynafu10DynaFuImplINS_3MatEEC5ERKNS_5kinfu6ParamsE]+0x48b): undefined reference to `glFramebufferRenderbufferEXT'
collect2: error: ld returned 1 exit status
make[2]: *** [modules/rgbd/CMakeFiles/opencv_rgbd.dir/build.make:505: lib/libopencv_rgbd.so.4.8.1] Error 1

Undefined call function is in opencv_contrib/modules/rgbd/src/dynafu.cpp