Action, face and object recognition, SLAM etc with ROS, Intel RealSense and OpenCV

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First of all, I'm totally new with ROS and OpenCV. So there is no foreknowledge etc. I have a project where I have to visualize senors, there for also optical ones. From the point of the sensor, I'm pretty sure how to run it. It is a Intel RealSense camera (right still a SR300 but I will switch to a D400-Model), and there is a nodlet that outputs all the data that available from the camara. This means I "only" have to subscribe to the corresponding topics to use the data I need.

With the camera I wanted to display some features like I described in the title. There is a framework from OpenCV that has some modules where I think they could be suitable: https://docs.opencv.org/3.2.0/d8/d00/... But these modules seem to be in the contrib-part, so now I don't know how to go on... Do I need to install OpenCV completly seperatly or can I download an extra package (opencv_contrib)?

Also, I tried to do the cv_bridge tutorial with the example node but I'm getting an error with catkin_make.

Error looks like this:

CMakeFiles/image_converter.dir/src/image_converter.cpp.o: In Funktion `ImageConverter::imageCb(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)':
image_converter.cpp:(.text._ZN14ImageConverter7imageCbERKN5boost10shared_ptrIKN11sensor_msgs6Image_ISaIvEEEEE[_ZN14ImageConverter7imageCbERKN5boost10shared_ptrIKN11sensor_msgs6Image_ISaIvEEEEE]+0x33): Nicht definierter Verweis auf `cv_bridge::toCvCopy(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'
image_converter.cpp:(.text._ZN14ImageConverter7imageCbERKN5boost10shared_ptrIKN11sensor_msgs6Image_ISaIvEEEEE[_ZN14ImageConverter7imageCbERKN5boost10shared_ptrIKN11sensor_msgs6Image_ISaIvEEEEE]+0x1dd): Nicht definierter Verweis auf `cv_bridge::CvImage::toImageMsg() const'
image_converter.cpp:(.text._ZN14ImageConverter7imageCbERKN5boost10shared_ptrIKN11sensor_msgs6Image_ISaIvEEEEE[_ZN14ImageConverter7imageCbERKN5boost10shared_ptrIKN11sensor_msgs6Image_ISaIvEEEEE]+0x209): Nicht definierter Verweis auf `image_transport::Publisher::publish(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&) const'
image_converter.cpp:(.text._ZN14ImageConverter7imageCbERKN5boost10shared_ptrIKN11sensor_msgs6Image_ISaIvEEEEE[_ZN14ImageConverter7imageCbERKN5boost10shared_ptrIKN11sensor_msgs6Image_ISaIvEEEEE]+0x49e): Nicht definierter Verweis auf `ros::console::g_initialized'
image_converter.cpp:(.text._ZN14ImageConverter7imageCbERKN5boost10shared_ptrIKN11sensor_msgs6Image_ISaIvEEEEE[_ZN14ImageConverter7imageCbERKN5boost10shared_ptrIKN11sensor_msgs6Image_ISaIvEEEEE]+0x55d): Nicht definierter Verweis auf `ros::console::print(ros::console::FilterBase*, void*, ros::console::levels::Level, char const*, int, char const*, char const*, ...)'
image_converter.cpp:(.text._ZN14ImageConverter7imageCbERKN5boost10shared_ptrIKN11sensor_msgs6Image_ISaIvEEEEE[_ZN14ImageConverter7imageCbERKN5boost10shared_ptrIKN11sensor_msgs6Image_ISaIvEEEEE]+0x585): Nicht definierter Verweis auf `ros::console::initializeLogLocation(ros::console::LogLocation*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::console::levels::Level)'
image_converter.cpp:(.text._ZN14ImageConverter7imageCbERKN5boost10shared_ptrIKN11sensor_msgs6Image_ISaIvEEEEE[_ZN14ImageConverter7imageCbERKN5boost10shared_ptrIKN11sensor_msgs6Image_ISaIvEEEEE]+0x5b3): Nicht definierter Verweis auf `ros::console::setLogLocationLevel(ros::console::LogLocation*, ros::console::levels::Level)'
image_converter.cpp:(.text._ZN14ImageConverter7imageCbERKN5boost10shared_ptrIKN11sensor_msgs6Image_ISaIvEEEEE[_ZN14ImageConverter7imageCbERKN5boost10shared_ptrIKN11sensor_msgs6Image_ISaIvEEEEE]+0x5bd): Nicht definierter Verweis auf `ros::console::checkLogLocationEnabled(ros::console::LogLocation*)'
image_converter.cpp:(.text._ZN14ImageConverter7imageCbERKN5boost10shared_ptrIKN11sensor_msgs6Image_ISaIvEEEEE[_ZN14ImageConverter7imageCbERKN5boost10shared_ptrIKN11sensor_msgs6Image_ISaIvEEEEE]+0x5c7): Nicht definierter Verweis auf `ros::console::initialize()'
CMakeFiles/image_converter.dir/src/image_converter.cpp.o: In Funktion `ImageConverter::~ImageConverter()':
image_converter.cpp:(.text._ZN14ImageConverterD2Ev[_ZN14ImageConverterD5Ev]+0xb2): Nicht definierter Verweis auf `image_transport::ImageTransport::~ImageTransport()'
image_converter.cpp:(.text._ZN14ImageConverterD2Ev[_ZN14ImageConverterD5Ev]+0xba): Nicht definierter Verweis auf `ros::NodeHandle::~NodeHandle()'
image_converter.cpp:(.text._ZN14ImageConverterD2Ev[_ZN14ImageConverterD5Ev]+0x1f0): Nicht definierter Verweis auf `image_transport::ImageTransport::~ImageTransport()'
image_converter.cpp:(.text._ZN14ImageConverterD2Ev[_ZN14ImageConverterD5Ev]+0x1f8): Nicht definierter Verweis auf `ros::NodeHandle::~NodeHandle()'
CMakeFiles/image_converter.dir/src/image_converter.cpp.o: In Funktion `image_transport::TransportHints::~TransportHints()':
image_converter.cpp:(.text._ZN15image_transport14TransportHintsD2Ev[_ZN15image_transport14TransportHintsD5Ev]+0xc): Nicht definierter Verweis auf `ros::NodeHandle::~NodeHandle()'
CMakeFiles/image_converter.dir/src/image_converter.cpp.o ...