How can i compile C++ example code using gcc/g++??

abcd@abcd:~/librealsense/examples$ g++ -std=c++11 rs-capture.cpp -lrealsense2

/tmp/ccbtcTU2.o: In function `set_viewport(rect const&)':

rs-capture.cpp:(.text+0x63f): undefined reference to `glViewport'

rs-capture.cpp:(.text+0x644): undefined reference to `glLoadIdentity'

rs-capture.cpp:(.text+0x64e): undefined reference to `glMatrixMode'

rs-capture.cpp:(.text+0x68d): undefined reference to `glOrtho'

/tmp/ccbtcTU2.o: In function `draw_pointcloud(float, float, glfw_state&, rs2::points&)':

rs-capture.cpp:(.text+0x6d6): undefined reference to `glLoadIdentity'

rs-capture.cpp:(.text+0x6e0): undefined reference to `glPushAttrib'

rs-capture.cpp:(.text+0x705): undefined reference to `glClearColor'

rs-capture.cpp:(.text+0x70f): undefined reference to `glClear'

rs-capture.cpp:(.text+0x719): undefined reference to `glMatrixMode'

rs-capture.cpp:(.text+0x71e): undefined reference to `glPushMatrix'

rs-capture.cpp:(.text+0x760): undefined reference to `gluPerspective'

rs-capture.cpp:(.text+0x76a): undefined reference to `glMatrixMode'

rs-capture.cpp:(.text+0x76f): undefined reference to `glPushMatrix'

rs-capture.cpp:(.text+0x7ae): undefined reference to `gluLookAt'

rs-capture.cpp:(.text+0x7e3): undefined reference to `glTranslatef'

rs-capture.cpp:(.text+0x809): undefined reference to `glRotated'

rs-capture.cpp:(.text+0x82e): undefined reference to `glRotated'

rs-capture.cpp:(.text+0x843): undefined reference to `glTranslatef'

rs-capture.cpp:(.text+0x859): undefined reference to `glPointSize'

rs-capture.cpp:(.text+0x863): undefined reference to `glEnable'

rs-capture.cpp:(.text+0x86d): undefined reference to `glEnable'

rs-capture.cpp:(.text+0x889): undefined reference to `glBindTexture'

rs-capture.cpp:(.text+0x8d3): undefined reference to `glTexParameterfv'

rs-capture.cpp:(.text+0x8e7): undefined reference to `glTexParameteri'

rs-capture.cpp:(.text+0x8fb): undefined reference to `glTexParameteri'

rs-capture.cpp:(.text+0x905): undefined reference to `glBegin'

rs-capture.cpp:(.text+0x9ad): undefined reference to `glVertex3fv'

rs-capture.cpp:(.text+0x9d1): undefined reference to `glTexCoord2fv'

rs-capture.cpp:(.text+0x9df): undefined reference to `glEnd'

rs-capture.cpp:(.text+0x9e4): undefined reference to `glPopMatrix'

rs-capture.cpp:(.text+0x9ee): undefined reference to `glMatrixMode'

rs-capture.cpp:(.text+0x9f3): undefined reference to `glPopMatrix'

rs-capture.cpp:(.text+0x9f8): undefined reference to `glPopAttrib'

/tmp/ccbtcTU2.o: In function `draw_pointcloud_wrt_world(float, float, glfw_state&, rs2::points&, rs2_pose&, float*, std::vector<rs2_vector, std::allocator<rs2_vector> >&)':

rs-capture.cpp:(.text+0xd91): undefined reference to `glLoadIdentity'

rs-capture.cpp:(.text+0xd9b): undefined reference to `glPushAttrib'

rs-capture.cpp:(.text+0xdc0): undefined reference to `glClearColor'

rs-capture.cpp:(.text+0xdca): undefined reference to `glClear'

rs-capture.cpp:(.text+0xdd4): undefined reference to `glMatrixMode'

rs-capture.cpp:(.text+0xdd9): undefined reference to `glPushMatrix'

rs-capture.cpp:(.text+0xe27): undefined reference to `gluPerspective'

rs-capture.cpp:(.text+0xe31): undefined reference to `glMatrixMode'

rs-capture.cpp:(.text+0xe36): undefined reference to `glPushMatrix'

rs-capture.cpp:(.text+0xe6d): undefined reference to `glTranslatef'

rs-capture.cpp:(.text+0xe9c): undefined reference to `glRotated'

rs-capture.cpp:(.text+0xeca): undefined reference to `glRotated'

rs-capture.cpp:(.text+0xedf): undefined reference to `glTranslatef'

rs-capture.cpp:(.text+0xee9): undefined reference to `glEnable'

rs-capture.cpp:(.text+0xef6): undefined reference to `glLineWidth'

rs-capture.cpp:(.text+0xf00): undefined reference to `glBegin'

rs-capture.cpp:(.text+0xf82): undefined reference to `glColor3f'

rs-capture.cpp:(.text+0xfbc): undefined reference to `glVertex3f'

rs-capture.cpp:(.text+0xfd5): undefined reference to `glEnd'

rs-capture.cpp:(.text+0xfe2): undefined reference to `glLineWidth'

rs-capture.cpp:(.text+0xfff): undefined reference to `glColor3f'

rs-capture.cpp:(.text+0x1057): undefined reference to `glMultMatrixf'

rs-capture.cpp:(.text+0x1066): undefined reference to `glMultMatrixf'

rs-capture.cpp:(.text+0x107f): undefined reference to `glPointSize'

rs-capture.cpp:(.text+0x1089): undefined reference to `glEnable'

rs-capture.cpp:(.text+0x1093): undefined reference to `glEnable'

rs-capture.cpp:(.text+0x10b2): undefined reference to `glBindTexture'

rs-capture.cpp:(.text+0x10fc): undefined reference to `glTexParameterfv'

rs-capture.cpp:(.text+0x1110): undefined reference to `glTexParameteri'

rs-capture.cpp:(.text+0x1124): undefined reference to `glTexParameteri'

rs-capture.cpp:(.text+0x112e): undefined reference to `glBegin'

rs-capture.cpp:(.text+0x11eb): undefined reference to `glVertex3fv'

rs-capture.cpp:(.text+0x1212): undefined reference to `glTexCoord2fv'

rs-capture.cpp:(.text+0x1223): undefined reference to `glEnd'

rs-capture.cpp:(.text+0x1228): undefined reference to `glPopMatrix'

rs-capture.cpp:(.text+0x1232): undefined reference to `glMatrixMode'

rs-capture.cpp:(.text+0x1237): undefined reference to `glPopMatrix'

rs-capture.cpp:(.text+0x123c): undefined reference to `glPopAttrib'

/tmp/ccbtcTU2.o: In function `draw_text(int, int, char const*)':

rs-capture.cpp:(.text._Z9draw_textiiPKc[_Z9draw_textiiPKc]+0x33): undefined reference to `glEnableClientState'

rs-capture.cpp:(.text._Z9draw_textiiPKc[_Z9draw_textiiPKc]+0x51): undefined reference to `glVertexPointer'

rs-capture.cpp:(.text._Z9draw_textiiPKc[_Z9draw_textiiPKc]+0xa2): undefined reference to `glDrawArrays'

rs-capture.cpp:(.text._Z9draw_textiiPKc[_Z9draw_textiiPKc]+0xac): undefined reference to `glDisableClientState'

/tmp/ccbtcTU2.o: In function `imu_renderer::draw_motion(rs2::motion_frame const&, rect const&)':

rs-capture.cpp:(.text._ZN12imu_renderer11draw_motionERKN3rs212motion_frameERK4rect[_ZN12imu_renderer11draw_motionERKN3rs212motion_frameERK4rect]+0x51): undefined reference to `glGenTextures'

rs-capture.cpp:(.text._ZN12imu_renderer11draw_motionERKN3rs212motion_frameERK4rect[_ZN12imu_renderer11draw_motionERKN3rs212motion_frameERK4rect]+0x163): undefined reference to `glMatrixMode'

rs-capture.cpp:(.text._ZN12imu_renderer11draw_motionERKN3rs212motion_frameERK4rect[_ZN12imu_renderer11draw_motionERKN3rs212motion_frameERK4rect]+0x168): undefined reference to `glPushMatrix'

rs-capture.cpp:(.text._ZN12imu_renderer11draw_motionERKN3rs212motion_frameERK4rect[_ZN12imu_renderer11draw_motionERKN3rs212motion_frameERK4rect]+0x16d): undefined reference to `glLoadIdentity'

rs-capture.cpp:(.text._ZN12imu_renderer11draw_motionERKN3rs212motion_frameERK4rect[_ZN12imu_renderer11draw_motionERKN3rs212motion_frameERK4rect]+0x1c7): undefined reference to `glOrtho'

rs-capture.cpp:(.text._ZN12imu_renderer11draw_motionERKN3rs212motion_frameERK4rect[_ZN12imu_renderer11draw_motionERKN3rs212motion_frameERK4rect]+0x1e4): undefined reference to `glRotatef'

rs-capture.cpp:(.text._ZN12imu_renderer11draw_motionERKN3rs212motion_frameERK4rect[_ZN12imu_renderer11draw_motionERKN3rs212motion_frameERK4rect]+0x1fd): undefined reference to `glTranslatef'

rs-capture.cpp:(.text._ZN12imu_renderer11draw_motionERKN3rs212motion_frameERK4rect[_ZN12imu_renderer11draw_motionERKN3rs212motion_frameERK4rect]+0x21a): undefined reference to `glRotatef'

rs-capture.cpp:(.text._ZN12imu_renderer11draw_motionERKN3rs212motion_frameERK4rect[_ZN12imu_renderer11draw_motionERKN3rs212motion_frameERK4rect]+0x237): undefined reference to `glRotatef'

rs-capture.cpp:(.text._ZN12imu_renderer11draw_motionERKN3rs212motion_frameERK4rect[_ZN12imu_renderer11draw_motionERKN3rs212motion_frameERK4rect]+0x254): undefined reference to `glRotatef'

rs-capture.cpp:(.text._ZN12imu_renderer11draw_motionERKN3rs212motion_frameERK4rect[_ZN12imu_renderer11draw_motionERKN3rs212motion_frameERK4rect]+0x474): undefined reference to `glColor3f'

rs-capture.cpp:(.text._ZN12imu_renderer11draw_motionERKN3rs212motion_frameERK4rect[_ZN12imu_renderer11draw_motionERKN3rs212motion_frameERK4rect]+0x47e): undefined reference to `glBegin'

rs-capture.cpp:(.text._ZN12imu_renderer11draw_motionERKN3rs212motion_frameERK4rect[_ZN12imu_renderer11draw_motionERKN3rs212motion_frameERK4rect]+0x4b9): undefined reference to `glVertex2d'

rs-capture.cpp:(.text._ZN12imu_renderer11draw_motionERKN3rs212motion_frameERK4rect[_ZN12imu_renderer11draw_motionERKN3rs212motion_frameERK4rect]+0x52b): undefined reference to `glVertex2d'

rs-capture.cpp:(.text._ZN12imu_renderer11draw_motionERKN3rs212motion_frameERK4rect[_ZN12imu_renderer11draw_motionERKN3rs212motion_frameERK4rect]+0x55c): undefined reference to `glEnd'

rs-capture.cpp:(.text._ZN12imu_renderer11draw_motionERKN3rs212motion_frameERK4rect[_ZN12imu_renderer11draw_motionERKN3rs212motion_frameERK4rect]+0x58a): undefined reference to `glLineWidth'

rs-capture.cpp:(.text._ZN12imu_renderer11draw_motionERKN3rs212motion_frameERK4rect[_ZN12imu_renderer11draw_motionERKN3rs212motion_frameERK4rect]+0x594): undefined reference to `glBegin'

rs-capture.cpp:(.text._ZN12imu_renderer11draw_motionERKN3rs212motion_frameERK4rect[_ZN12imu_renderer11draw_motionERKN3rs212motion_frameERK4rect]+0x5b1): undefined reference to `glColor3f'

rs-capture.cpp:(.text._ZN12imu_renderer11draw_motionERKN3rs212motion_frameERK4rect[_ZN12imu_renderer11draw_motionERKN3rs212motion_frameERK4rect]+0x5c2): undefined reference to `glVertex3f'

rs-capture.cpp:(.text._ZN12imu_renderer11draw_motionERKN3rs212motion_frameERK4rect[_ZN12imu_renderer11draw_motionERKN3rs212motion_frameERK4rect]+0x5fd): undefined reference to `glVertex3f'

rs-capture.cpp:(.text._ZN12imu_renderer11draw_motionERKN3rs212motion_frameERK4rect[_ZN12imu_renderer11draw_motionERKN3rs212motion_frameERK4rect]+0x602): undefined reference to `glEnd'

rs-capture.cpp:(.text._ZN12imu_renderer11draw_motionERKN3rs212motion_frameERK4rect[_ZN12imu_renderer11draw_motionERKN3rs212motion_frameERK4rect]+0x616): undefined reference to `glGetFloatv'

rs-capture.cpp:(.text._ZN12imu_renderer11draw_motionERKN3rs212motion_frameERK4rect[_ZN12imu_renderer11draw_motionERKN3rs212motion_frameERK4rect]+0x62a): undefined reference to `glGetFloatv'

rs-capture.cpp:(.text._ZN12imu_renderer11draw_motionERKN3rs212motion_frameERK4rect[_ZN12imu_renderer11draw_motionERKN3rs212motion_frameERK4rect]+0x62f): undefined reference to `glLoadIdentity'

rs-capture.cpp:(.text._ZN12imu_renderer11draw_motionERKN3rs212motion_frameERK4rect[_ZN12imu_renderer11draw_motionERKN3rs212motion_frameERK4rect]+0x681): undefined reference to `glOrtho'

rs-capture.cpp:(.text._ZN12imu_renderer11draw_motionERKN3rs212motion_frameERK4rect[_ZN12imu_renderer11draw_motionERKN3rs212motion_frameERK4rect]+0x6bc): undefined reference to `glRotatef'

rs-capture.cpp:(.text._ZN12imu_renderer11draw_motionERKN3rs212motion_frameERK4rect[_ZN12imu_renderer11draw_motionERKN3rs212motion_frameERK4rect]+0x9ac): undefined reference to `glMatrixMode'

rs-capture.cpp:(.text._ZN12imu_renderer11draw_motionERKN3rs212motion_frameERK4rect[_ZN12imu_renderer11draw_motionERKN3rs212motion_frameERK4rect]+0x9b1): undefined reference to `glPopMatrix'

/tmp/ccbtcTU2.o: In function `imu_renderer::print_text_in_3d(float, float, float, char const*, bool, float*, float*, float)':

rs-capture.cpp:(.text._ZN12imu_renderer16print_text_in_3dEfffPKcbPfS2_f[_ZN12imu_renderer16print_text_in_3dEfffPKcbPfS2_f]+0xa6): undefined reference to `glColor3f'

/tmp/ccbtcTU2.o: In function `imu_renderer::draw_axes(float, float)':

rs-capture.cpp:(.text._ZN12imu_renderer9draw_axesEff[_ZN12imu_renderer9draw_axesEff]+0x18): undefined reference to `glBegin'

rs-capture.cpp:(.text._ZN12imu_renderer9draw_axesEff[_ZN12imu_renderer9draw_axesEff]+0x2d): undefined reference to `glColor3f'

rs-capture.cpp:(.text._ZN12imu_renderer9draw_axesEff[_ZN12imu_renderer9draw_axesEff]+0x4b): undefined reference to `glVertex3f'

rs-capture.cpp:(.text._ZN12imu_renderer9draw_axesEff[_ZN12imu_renderer9draw_axesEff]+0x7e): undefined reference to `glVertex3f'

rs-capture.cpp:(.text._ZN12imu_renderer9draw_axesEff[_ZN12imu_renderer9draw_axesEff]+0xa6): undefined reference to `glVertex3f'

rs-capture.cpp:(.text._ZN12imu_renderer9draw_axesEff[_ZN12imu_renderer9draw_axesEff]+0xc4): undefined reference to `glVertex3f'

rs-capture.cpp:(.text._ZN12imu_renderer9draw_axesEff[_ZN12imu_renderer9draw_axesEff]+0xf7): undefined reference to `glVertex3f'

/tmp/ccbtcTU2.o:rs-capture.cpp:(.text._ZN12imu_renderer9draw_axesEff[_ZN12imu_renderer9draw_axesEff]+0x11f): more undefined references to `glVertex3f' follow

/tmp/ccbtcTU2.o: In function `imu_renderer::draw_axes(float, float)':

rs-capture.cpp:(.text._ZN12imu_renderer9draw_axesEff[_ZN12imu_renderer9draw_axesEff]+0x124): undefined reference to `glEnd'

rs-capture.cpp:(.text._ZN12imu_renderer9draw_axesEff[_ZN12imu_renderer9draw_axesEff]+0x12e): undefined reference to `glBegin'

rs-capture.cpp:(.text._ZN12imu_renderer9draw_axesEff[_ZN12imu_renderer9draw_axesEff]+0x143): undefined reference to `glColor3f'

rs-capture.cpp:(.text._ZN12imu_renderer9draw_axesEff[_ZN12imu_renderer9draw_axesEff]+0x164): undefined reference to `glVertex3f'

rs-capture.cpp:(.text._ZN12imu_renderer9draw_axesEff[_ZN12imu_renderer9draw_axesEff]+0x186): undefined reference to `glVertex3f'

rs-capture.cpp:(.text._ZN12imu_renderer9draw_axesEff[_ZN12imu_renderer9draw_axesEff]+0x1a8): undefined reference to `glVertex3f'

rs-capture.cpp:(.text._ZN12imu_renderer9draw_axesEff[_ZN12imu_renderer9draw_axesEff]+0x1c9): undefined reference to `glVertex3f'

rs-capture.cpp:(.text._ZN12imu_renderer9draw_axesEff[_ZN12imu_renderer9draw_axesEff]+0x1e8): undefined reference to `glVertex3f'

/tmp/ccbtcTU2.o:rs-capture.cpp:(.text._ZN12imu_renderer9draw_axesEff[_ZN12imu_renderer9draw_axesEff]+0x207): more undefined references to `glVertex3f' follow

/tmp/ccbtcTU2.o: In function `imu_renderer::draw_axes(float, float)':

rs-capture.cpp:(.text._ZN12imu_renderer9draw_axesEff[_ZN12imu_renderer9draw_axesEff]+0x20c): undefined reference to `glEnd'

rs-capture.cpp:(.text._ZN12imu_renderer9draw_axesEff[_ZN12imu_renderer9draw_axesEff]+0x216): undefined reference to `glBegin'

rs-capture.cpp:(.text._ZN12imu_renderer9draw_axesEff[_ZN12imu_renderer9draw_axesEff]+0x22b): undefined reference to `glColor3f'

rs-capture.cpp:(.text._ZN12imu_renderer9draw_axesEff[_ZN12imu_renderer9draw_axesEff]+0x24c): undefined reference to `glVertex3f'

rs-capture.cpp:(.text._ZN12imu_renderer9draw_axesEff[_ZN12imu_renderer9draw_axesEff]+0x271): undefined reference to `glVertex3f'

rs-capture.cpp:(.text._ZN12imu_renderer9draw_axesEff[_ZN12imu_renderer9draw_axesEff]+0x296): undefined reference to `glVertex3f'

rs-capture.cpp:(.text._ZN12imu_renderer9draw_axesEff[_ZN12imu_renderer9draw_axesEff]+0x2b7): undefined reference to `glVertex3f'

rs-capture.cpp:(.text._ZN12imu_renderer9draw_axesEff[_ZN12imu_renderer9draw_axesEff]+0x2d9): undefined reference to `glVertex3f'

/tmp/ccbtcTU2.o:rs-capture.cpp:(.text._ZN12imu_renderer9draw_axesEff[_ZN12imu_renderer9draw_axesEff]+0x2fb): more undefined references to `glVertex3f' follow

/tmp/ccbtcTU2.o: In function `imu_renderer::draw_axes(float, float)':

rs-capture.cpp:(.text._ZN12imu_renderer9draw_axesEff[_ZN12imu_renderer9draw_axesEff]+0x300): undefined reference to `glEnd'

rs-capture.cpp:(.text._ZN12imu_renderer9draw_axesEff[_ZN12imu_renderer9draw_axesEff]+0x310): undefined reference to `glLineWidth'

rs-capture.cpp:(.text._ZN12imu_renderer9draw_axesEff[_ZN12imu_renderer9draw_axesEff]+0x31a): undefined reference to `glBegin'

rs-capture.cpp:(.text._ZN12imu_renderer9draw_axesEff[_ZN12imu_renderer9draw_axesEff]+0x32f): undefined reference to `glColor3f'

rs-capture.cpp:(.text._ZN12imu_renderer9draw_axesEff[_ZN12imu_renderer9draw_axesEff]+0x340): undefined reference to `glVertex3f'

rs-capture.cpp:(.text._ZN12imu_renderer9draw_axesEff[_ZN12imu_renderer9draw_axesEff]+0x358): undefined reference to `glVertex3f'

rs-capture.cpp:(.text._ZN12imu_renderer9draw_axesEff[_ZN12imu_renderer9draw_axesEff]+0x36d): undefined reference to `glColor3f'

rs-capture.cpp:(.text._ZN12imu_renderer9draw_axesEff[_ZN12imu_renderer9draw_axesEff]+0x37e): undefined reference to `glVertex3f'

rs-capture.cpp:(.text._ZN12imu_renderer9draw_axesEff[_ZN12imu_renderer9draw_axesEff]+0x393): undefined reference to `glVertex3f'

rs-capture.cpp:(.text._ZN12imu_renderer9draw_axesEff[_ZN12imu_renderer9draw_axesEff]+0x3a8): undefined reference to `glColor3f'

rs-capture.cpp:(.text._ZN12imu_renderer9draw_axesEff[_ZN12imu_renderer9draw_axesEff]+0x3b9): undefined reference to `glVertex3f'

rs-capture.cpp:(.text._ZN12imu_renderer9draw_axesEff[_ZN12imu_renderer9draw_axesEff]+0x3ce): undefined reference to `glVertex3f'

rs-capture.cpp:(.text._ZN12imu_renderer9draw_axesEff[_ZN12imu_renderer9draw_axesEff]+0x3d3): undefined reference to `glEnd'

/tmp/ccbtcTU2.o: In function `imu_renderer::draw_circle(float, float, float, float, float, float, float, float3, float)':

rs-capture.cpp:(.text._ZN12imu_renderer11draw_circleEfffffff6float3f[_ZN12imu_renderer11draw_circleEfffffff6float3f]+0x53): undefined reference to `glColor3f'

rs-capture.cpp:(.text._ZN12imu_renderer11draw_circleEfffffff6float3f[_ZN12imu_renderer11draw_circleEfffffff6float3f]+0x60): undefined reference to `glLineWidth'

rs-capture.cpp:(.text._ZN12imu_renderer11draw_circleEfffffff6float3f[_ZN12imu_renderer11draw_circleEfffffff6float3f]+0x6a): undefined reference to `glBegin'

rs-capture.cpp:(.text._ZN12imu_renderer11draw_circleEfffffff6float3f[_ZN12imu_renderer11draw_circleEfffffff6float3f]+0x16b): undefined reference to `glVertex3f'

rs-capture.cpp:(.text._ZN12imu_renderer11draw_circleEfffffff6float3f[_ZN12imu_renderer11draw_circleEfffffff6float3f]+0x179): undefined reference to `glEnd'

/tmp/ccbtcTU2.o: In function `pose_renderer::draw_pose(rs2::pose_frame const&, rect const&)':

rs-capture.cpp:(.text._ZN13pose_renderer9draw_poseERKN3rs210pose_frameERK4rect[_ZN13pose_renderer9draw_poseERKN3rs210pose_frameERK4rect]+0x53): undefined reference to `glGenTextures'

/tmp/ccbtcTU2.o: In function `texture::upload(rs2::video_frame const&)':

rs-capture.cpp:(.text._ZN7texture6uploadERKN3rs211video_frameE[_ZN7texture6uploadERKN3rs211video_frameE]+0x50): undefined reference to `glGenTextures'

rs-capture.cpp:(.text._ZN7texture6uploadERKN3rs211video_frameE[_ZN7texture6uploadERKN3rs211video_frameE]+0x55): undefined reference to `glGetError'

rs-capture.cpp:(.text._ZN7texture6uploadERKN3rs211video_frameE[_ZN7texture6uploadERKN3rs211video_frameE]+0x11e): undefined reference to `glBindTexture'

rs-capture.cpp:(.text._ZN7texture6uploadERKN3rs211video_frameE[_ZN7texture6uploadERKN3rs211video_frameE]+0x18f): undefined reference to `glTexImage2D'

rs-capture.cpp:(.text._ZN7texture6uploadERKN3rs211video_frameE[_ZN7texture6uploadERKN3rs211video_frameE]+0x1db): undefined reference to `glTexImage2D'

rs-capture.cpp:(.text._ZN7texture6uploadERKN3rs211video_frameE[_ZN7texture6uploadERKN3rs211video_frameE]+0x227): undefined reference to `glTexImage2D'

rs-capture.cpp:(.text._ZN7texture6uploadERKN3rs211video_frameE[_ZN7texture6uploadERKN3rs211video_frameE]+0x270): undefined reference to `glTexImage2D'

rs-capture.cpp:(.text._ZN7texture6uploadERKN3rs211video_frameE[_ZN7texture6uploadERKN3rs211video_frameE]+0x2b6): undefined reference to `glTexParameteri'

rs-capture.cpp:(.text._ZN7texture6uploadERKN3rs211video_frameE[_ZN7texture6uploadERKN3rs211video_frameE]+0x2ca): undefined reference to `glTexParameteri'

rs-capture.cpp:(.text._ZN7texture6uploadERKN3rs211video_frameE[_ZN7texture6uploadERKN3rs211video_frameE]+0x2de): undefined reference to `glTexParameteri'

rs-capture.cpp:(.text._ZN7texture6uploadERKN3rs211video_frameE[_ZN7texture6uploadERKN3rs211video_frameE]+0x2f2): undefined reference to `glTexParameteri'

rs-capture.cpp:(.text._ZN7texture6uploadERKN3rs211video_frameE[_ZN7texture6uploadERKN3rs211video_frameE]+0x301): undefined reference to `glPixelStorei'

rs-capture.cpp:(.text._ZN7texture6uploadERKN3rs211video_frameE[_ZN7texture6uploadERKN3rs211video_frameE]+0x310): undefined reference to `glBindTexture'

/tmp/ccbtcTU2.o: In function `texture::show(rect const&, float) const':

rs-capture.cpp:(.text._ZNK7texture4showERK4rectf[_ZNK7texture4showERK4rectf]+0x3d): undefined reference to `glBindTexture'

rs-capture.cpp:(.text._ZNK7texture4showERK4rectf[_ZNK7texture4showERK4rectf]+0x62): undefined reference to `glColor4f'

rs-capture.cpp:(.text._ZNK7texture4showERK4rectf[_ZNK7texture4showERK4rectf]+0x6c): undefined reference to `glEnable'

rs-capture.cpp:(.text._ZNK7texture4showERK4rectf[_ZNK7texture4showERK4rectf]+0x76): undefined reference to `glBegin'

rs-capture.cpp:(.text._ZNK7texture4showERK4rectf[_ZNK7texture4showERK4rectf]+0x83): undefined reference to `glTexCoord2f'

rs-capture.cpp:(.text._ZNK7texture4showERK4rectf[_ZNK7texture4showERK4rectf]+0x90): undefined reference to `glVertex2f'

rs-capture.cpp:(.text._ZNK7texture4showERK4rectf[_ZNK7texture4showERK4rectf]+0xa1): undefined reference to `glTexCoord2f'

rs-capture.cpp:(.text._ZNK7texture4showERK4rectf[_ZNK7texture4showERK4rectf]+0xb6): undefined reference to `glVertex2f'

rs-capture.cpp:(.text._ZNK7texture4showERK4rectf[_ZNK7texture4showERK4rectf]+0xcb): undefined reference to `glTexCoord2f'

rs-capture.cpp:(.text._ZNK7texture4showERK4rectf[_ZNK7texture4showERK4rectf]+0xeb): undefined reference to `glVertex2f'

rs-capture.cpp:(.text._ZNK7texture4showERK4rectf[_ZNK7texture4showERK4rectf]+0xfc): undefined reference to `glTexCoord2f'

rs-capture.cpp:(.text._ZNK7texture4showERK4rectf[_ZNK7texture4showERK4rectf]+0x114): undefined reference to `glVertex2f'

rs-capture.cpp:(.text._ZNK7texture4showERK4rectf[_ZNK7texture4showERK4rectf]+0x119): undefined reference to `glEnd'

rs-capture.cpp:(.text._ZNK7texture4showERK4rectf[_ZNK7texture4showERK4rectf]+0x123): undefined reference to `glDisable'

rs-capture.cpp:(.text._ZNK7texture4showERK4rectf[_ZNK7texture4showERK4rectf]+0x132): undefined reference to `glBindTexture'

/tmp/ccbtcTU2.o: In function `window::window(int, int, char const*)::{lambda(GLFWwindow*, int, int, int)#1}::operator()(GLFWwindow*, int, int, int) const':

rs-capture.cpp:(.text._ZZN6windowC4EiiPKcENKUlP10GLFWwindowiiiE_clES3_iii[_ZZN6windowC4EiiPKcENKUlP10GLFWwindowiiiE_clES3_iii]+0x22): undefined reference to `glfwGetWindowUserPointer'

/tmp/ccbtcTU2.o: In function `window::window(int, int, char const*)::{lambda(GLFWwindow*, double, double)#2}::operator()(GLFWwindow*, double, double) const':

rs-capture.cpp:(.text._ZZN6windowC4EiiPKcENKUlP10GLFWwindowddE0_clES3_dd[_ZZN6windowC4EiiPKcENKUlP10GLFWwindowddE0_clES3_dd]+0x22): undefined reference to `glfwGetWindowUserPointer'

/tmp/ccbtcTU2.o: In function `window::window(int, int, char const*)::{lambda(GLFWwindow*, double, double)#3}::operator()(GLFWwindow*, double, double) const':

rs-capture.cpp:(.text._ZZN6windowC4EiiPKcENKUlP10GLFWwindowddE1_clES3_dd[_ZZN6windowC4EiiPKcENKUlP10GLFWwindowddE1_clES3_dd]+0x22): undefined reference to `glfwGetWindowUserPointer'

/tmp/ccbtcTU2.o: In function `window::window(int, int, char const*)::{lambda(GLFWwindow*, int, int, int, int)#4}::operator()(GLFWwindow*, int, int, int, int) const':

rs-capture.cpp:(.text._ZZN6windowC4EiiPKcENKUlP10GLFWwindowiiiiE2_clES3_iiii[_ZZN6windowC4EiiPKcENKUlP10GLFWwindowiiiiE2_clES3_iiii]+0x26): undefined reference to `glfwGetWindowUserPointer'

/tmp/ccbtcTU2.o: In function `window::window(int, int, char const*)':

rs-capture.cpp:(.text._ZN6windowC2EiiPKc[_ZN6windowC5EiiPKc]+0xde): undefined reference to `glfwInit'

rs-capture.cpp:(.text._ZN6windowC2EiiPKc[_ZN6windowC5EiiPKc]+0xfa): undefined reference to `glfwCreateWindow'

rs-capture.cpp:(.text._ZN6windowC2EiiPKc[_ZN6windowC5EiiPKc]+0x157): undefined reference to `glfwMakeContextCurrent'

rs-capture.cpp:(.text._ZN6windowC2EiiPKc[_ZN6windowC5EiiPKc]+0x171): undefined reference to `glfwSetWindowUserPointer'

rs-capture.cpp:(.text._ZN6windowC2EiiPKc[_ZN6windowC5EiiPKc]+0x196): undefined reference to `glfwSetMouseButtonCallback'

rs-capture.cpp:(.text._ZN6windowC2EiiPKc[_ZN6windowC5EiiPKc]+0x1bb): undefined reference to `glfwSetScrollCallback'

rs-capture.cpp:(.text._ZN6windowC2EiiPKc[_ZN6windowC5EiiPKc]+0x1e0): undefined reference to `glfwSetCursorPosCallback'

rs-capture.cpp:(.text._ZN6windowC2EiiPKc[_ZN6windowC5EiiPKc]+0x205): undefined reference to `glfwSetKeyCallback'

/tmp/ccbtcTU2.o: In function `window::~window()':

rs-capture.cpp:(.text._ZN6windowD2Ev[_ZN6windowD5Ev]+0x1b): undefined reference to `glfwDestroyWindow'

rs-capture.cpp:(.text._ZN6windowD2Ev[_ZN6windowD5Ev]+0x20): undefined reference to `glfwTerminate'

/tmp/ccbtcTU2.o: In function `window::operator bool()':

rs-capture.cpp:(.text._ZN6windowcvbEv[_ZN6windowcvbEv]+0xd): undefined reference to `glPopMatrix'

rs-capture.cpp:(.text._ZN6windowcvbEv[_ZN6windowcvbEv]+0x20): undefined reference to `glfwSwapBuffers'

rs-capture.cpp:(.text._ZN6windowcvbEv[_ZN6windowcvbEv]+0x33): undefined reference to `glfwWindowShouldClose'

rs-capture.cpp:(.text._ZN6windowcvbEv[_ZN6windowcvbEv]+0x40): undefined reference to `glfwPollEvents'

rs-capture.cpp:(.text._ZN6windowcvbEv[_ZN6windowcvbEv]+0x6c): undefined reference to `glfwGetFramebufferSize'

rs-capture.cpp:(.text._ZN6windowcvbEv[_ZN6windowcvbEv]+0x76): undefined reference to `glClear'

rs-capture.cpp:(.text._ZN6windowcvbEv[_ZN6windowcvbEv]+0x9d): undefined reference to `glViewport'

rs-capture.cpp:(.text._ZN6windowcvbEv[_ZN6windowcvbEv]+0xa2): undefined reference to `glPushMatrix'

rs-capture.cpp:(.text._ZN6windowcvbEv[_ZN6windowcvbEv]+0xce): undefined reference to `glfwGetWindowSize'

rs-capture.cpp:(.text._ZN6windowcvbEv[_ZN6windowcvbEv]+0x117): undefined reference to `glOrtho'

collect2: error: ld returned 1 exit status

First of all, I matched path to example.h 

And I tried to "g++ -std=c++11 rs-capture.cpp -lrealsense2" but i had get this error.

How can i fix it?