Undefined reference in Camera_timer.cpp

When compiling by following instructions on Readme with "catkin build -j4 -p4 --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo"

/home/osean/dev/catkin_ws/src/ros_book/chapter9_tutorials/src/camera_timer.cpp:49: undefined reference to cv::VideoCapture::operator>>(cv::Mat&)' CMakeFiles/camera_timer.dir/src/camera_timer.cpp.o: In function CameraDriver::CameraDriver(int)':
/home/osean/dev/catkin_ws/src/ros_book/chapter9_tutorials/src/camera_timer.cpp:21: undefined reference to cv::VideoCapture::VideoCapture(int)' /home/osean/dev/catkin_ws/src/ros_book/chapter9_tutorials/src/camera_timer.cpp:24: undefined reference to cv::VideoCapture::isOpened() const'
/home/osean/dev/catkin_ws/src/ros_book/chapter9_tutorials/src/camera_timer.cpp:21: undefined reference to cv::VideoCapture::~VideoCapture()' CMakeFiles/camera_timer.dir/src/camera_timer.cpp.o: In function CameraDriver::~CameraDriver()':
/home/osean/dev/catkin_ws/src/ros_book/chapter9_tutorials/src/camera_timer.cpp:44: undefined reference to cv::VideoCapture::release()' /home/osean/dev/catkin_ws/src/ros_book/chapter9_tutorials/src/camera_timer.cpp:43: undefined reference to cv::VideoCapture::~VideoCapture()'
/home/osean/dev/catkin_ws/src/ros_book/chapter9_tutorials/src/camera_timer.cpp:43: undefined reference to `cv::VideoCapture::~VideoCapture()'
collect2: error: ld returned 1 exit status
make[2]: *** [/home/osean/dev/catkin_ws/devel/.private/chapter9_tutorials/lib/chapter9_tutorials/camera_timer] Error 1
make[1]: *** [CMakeFiles/camera_timer.dir/all] Error 2
make: *** [all] Error 2

Resolved first issue by putting ${OpenCV_LIBRARIES} before ${catkin_LIBRARIES}.
However, this causes:

Errors << chapter9_tutorials:make /home/osean/dev/catkin_ws/logs/chapter9_tutorials/build.make.037.log
In file included from /usr/include/opencv2/nonfree/nonfree.hpp:46:0,
from /home/osean/dev/catkin_ws/src/ros_book/chapter9_tutorials/src/homography.cpp:16:
/usr/include/opencv2/nonfree/features2d.hpp:73:21: error: ‘vector’ has not been declared
vector& keypoints) const;
^
/usr/include/opencv2/nonfree/features2d.hpp:73:27: error: expected ‘,’ or ‘...’ before ‘<’ token
vector& keypoints) const;
^
/usr/include/opencv2/nonfree/features2d.hpp:77:21: error: ‘vector’ has not been declared
vector& keypoints,
^
/usr/include/opencv2/nonfree/features2d.hpp:77:27: error: expected ‘,’ or ‘...’ before ‘<’ token
vector& keypoints,
^
/usr/include/opencv2/nonfree/features2d.hpp:76:10: error: ‘void cv::SIFT::operator()(cv::InputArray, cv::InputArray, int) const’ cannot be overloaded
void operator()(InputArray img, InputArray mask,
^
/usr/include/opencv2/nonfree/features2d.hpp:72:10: error: with ‘void cv::SIFT::operator()(cv::InputArray, cv::InputArray, int) const’
void operator()(InputArray img, InputArray mask,
^
/usr/include/opencv2/nonfree/features2d.hpp:81:5: error: ‘AlgorithmInfo’ does not name a type
AlgorithmInfo* info() const;
^
/usr/include/opencv2/nonfree/features2d.hpp:83:49: error: ‘vector’ has not been declared
void buildGaussianPyramid( const Mat& base, vector& pyr, int nOctaves ) const;
^
/usr/include/opencv2/nonfree/features2d.hpp:83:55: error: expected ‘,’ or ‘...’ before ‘<’ token
void buildGaussianPyramid( const Mat& base, vector& pyr, int nOctaves ) const;
^
/usr/include/opencv2/nonfree/features2d.hpp:84:33: error: ‘vector’ does not name a type
void buildDoGPyramid( const vector& pyr, vector& dogpyr ) const;
^
/usr/include/opencv2/nonfree/features2d.hpp:84:39: error: expected ‘,’ or ‘...’ before ‘<’ token
void buildDoGPyramid( const vector& pyr, vector& dogpyr ) const;
^
/usr/include/opencv2/nonfree/features2d.hpp:85:39: error: ‘vector’ does not name a type
void findScaleSpaceExtrema( const vector& gauss_pyr, const vector& dog_pyr,
^
/usr/include/opencv2/nonfree/features2d.hpp:85:45: error: expected ‘,’ or ‘...’ before ‘<’ token
void findScaleSpaceExtrema( const vector& gauss_pyr, const vector& dog_pyr,
^
/usr/include/opencv2/nonfree/features2d.hpp:89:40: error: ‘vector’ has not been declared
void detectImpl( const Mat& image, vector& keypoints, const Mat& mask=Mat() ) const;
^
/usr/include/opencv2/nonfree/features2d.hpp:89:46: error: expected ‘,’ or ‘...’ before ‘<’ token
void detectImpl( const Mat& image, vector& keypoints, const Mat& mask=Mat() ) const;
^
/usr/include/opencv2/nonfree/features2d.hpp:90:41: error: ‘vector’ has not been declared
void computeImpl( const Mat& image, vector& keypoints, Mat& descriptors ) const;
^
/usr/include/opencv2/nonfree/features2d.hpp:90:47: error: expected ‘,’ or ‘...’ before ‘<’ token
void computeImpl( const Mat& image, vector& keypoints, Mat& descriptors ) const;
^
/usr/include/opencv2/nonfree/features2d.hpp:125:28: error: ‘vector’ has not been declared
CV_OUT vector& keypoints) const;
^
/usr/include/opencv2/nonfree/features2d.hpp:125:34: error: expected ‘,’ or ‘...’ before ‘<’ token
CV_OUT vector& keypoints) const;
^
In file included from /usr/include/opencv2/nonfree/nonfree.hpp:46:0,
from /home/osean/dev/catkin_ws/src/ros_book/chapter9_tutorials/src/homography.cpp:16:
/usr/include/opencv2/nonfree/features2d.hpp:128:28: error: ‘vector’ has not been declared
CV_OUT vector& keypoints,
^
/usr/include/opencv2/nonfree/features2d.hpp:128:34: error: expected ‘,’ or ‘...’ before ‘<’ token
CV_OUT vector& keypoints,
^
/usr/include/opencv2/nonfree/features2d.hpp:127:10: error: ‘void cv::SURF::operator()(cv::InputArray, cv::InputArray, int) const’ cannot be overloaded
void operator()(InputArray img, InputArray mask,
^
In file included from /usr/include/opencv2/nonfree/nonfree.hpp:46:0,
from /home/osean/dev/catkin_ws/src/ros_book/chapter9_tutorials/src/homography.cpp:16:
/usr/include/opencv2/nonfree/features2d.hpp:124:10: error: with ‘void cv::SURF::operator()(cv::InputArray, cv::InputArray, int) const’
void operator()(InputArray img, InputArray mask,
^
In file included from /usr/include/opencv2/nonfree/nonfree.hpp:46:0,
from /home/osean/dev/catkin_ws/src/ros_book/chapter9_tutorials/src/homography.cpp:16:
/usr/include/opencv2/nonfree/features2d.hpp:132:5: error: ‘AlgorithmInfo’ does not name a type
AlgorithmInfo* info() const;
^
/usr/include/opencv2/nonfree/features2d.hpp:142:40: error: ‘vector’ has not been declared
void detectImpl( const Mat& image, vector& keypoints, const Mat& mask=Mat() ) const;
^
/usr/include/opencv2/nonfree/features2d.hpp:142:46: error: expected ‘,’ or ‘...’ before ‘<’ token
void detectImpl( const Mat& image, vector& keypoints, const Mat& mask=Mat() ) const;
^
/usr/include/opencv2/nonfree/features2d.hpp:143:41: error: ‘vector’ has not been declared
void computeImpl( const Mat& image, vector& keypoints, Mat& descriptors ) const;
^
/usr/include/opencv2/nonfree/features2d.hpp:143:47: error: expected ‘,’ or ‘...’ before ‘<’ token
void computeImpl( const Mat& image, vector& keypoints, Mat& descriptors ) const;
^
/home/osean/dev/catkin_ws/src/ros_book/chapter9_tutorials/src/homography.cpp: In constructor ‘Homography::Homography()’:
/home/osean/dev/catkin_ws/src/ros_book/chapter9_tutorials/src/homography.cpp:40:21: error: ‘create’ is not a member of ‘cv::FeatureDetector {aka cv::Feature2D}’
detector_ = cv::FeatureDetector::create(feature_detector_);
^
/home/osean/dev/catkin_ws/src/ros_book/chapter9_tutorials/src/homography.cpp:48:22: error: ‘create’ is not a member of ‘cv::DescriptorExtractor {aka cv::Feature2D}’
extractor_ = cv::DescriptorExtractor::create(descriptor_extractor_);
^
make[2]: *** [CMakeFiles/homography.dir/src/homography.cpp.o] Error 1
make[1]: *** [CMakeFiles/homography.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
make: *** [all] Error 2

Vector is included in header and non-free uses it's namespace. I'm not sure what linker is causing this error. I've remade OpenCV 2.4.9 on my system and same issue.