Opencv3 compatibility

[schneith]

Tried to compile with opencv3.0.0-beta. Agast builds without the "-pedantic" flag and brisk produces the following compile errors:

/home/user/code/catkin/src/ethzasl_brisk/brisk/src/brisk-layer.cc: In member function uint8_t brisk::BriskLayer::Value(const cv::Mat&, float, float, float):
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/brisk-layer.cc:180:22: error: assert was not declared in this scope
   assert(!mat.empty());
                      ^
make[2]: *** [CMakeFiles/brisk.dir/src/brisk-layer.cc.o] Error 1
make[2]: *** Waiting for unfinished jobs....
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/brute-force-matcher.cc: In member function virtual cv::Ptr<cv::DescriptorMatcher> brisk::BruteForceMatcher::clone(bool) const:
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/brute-force-matcher.cc:51:63: error: cannot allocate an object of abstract type brisk::BruteForceMatcher
   BruteForceMatcher* matcher = new BruteForceMatcher(distance_);
                                                               ^
In file included from /home/user/code/catkin/src/ethzasl_brisk/brisk/src/brute-force-matcher.cc:43:0:
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/brute-force-matcher.h:54:7: note:   because the following virtual functions are pure within brisk::BruteForceMatcher:
 class  BruteForceMatcher : public cv::DescriptorMatcher {
       ^
In file included from /home/user/code/catkin/devel/include/opencv2/features2d/features2d.hpp:48:0,
                 from /home/user/code/catkin/src/ethzasl_brisk/agast/include/agast/wrap-opencv.h:45,
                 from /home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/brute-force-matcher.h:46,
                 from /home/user/code/catkin/src/ethzasl_brisk/brisk/src/brute-force-matcher.cc:43:
/home/user/code/catkin/devel/include/opencv2/features2d.hpp:619:18: note:   virtual void cv::DescriptorMatcher::knnMatchImpl(cv::InputArray, std::vector<std::vector<cv::DMatch> >&, int, cv::InputArrayOfArrays, bool)
     virtual void knnMatchImpl( InputArray queryDescriptors, std::vector<std::vector<DMatch> >& matches, int k,
                  ^
/home/user/code/catkin/devel/include/opencv2/features2d.hpp:621:18: note:   virtual void cv::DescriptorMatcher::radiusMatchImpl(cv::InputArray, std::vector<std::vector<cv::DMatch> >&, float, cv::InputArrayOfArrays, bool)
     virtual void radiusMatchImpl( InputArray queryDescriptors, std::vector<std::vector<DMatch> >& matches, float maxDistance,
                  ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/brute-force-matcher.cc:56:10: error: could not convert matcher from brisk::BruteForceMatcher* to cv::Ptr<cv::DescriptorMatcher>
   return matcher;
          ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/brute-force-matcher.cc: In static member function static void brisk::BruteForceMatcher::commonKnnMatchImpl(brisk::BruteForceMatcher&, const cv::Mat&, std::vector<std::vector<cv::DMatch> >&, int, const std::vector<cv::Mat>&, bool):
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/brute-force-matcher.cc:86:35: error: assert was not declared in this scope
   assert(!queryDescriptors.empty());
                                   ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/brute-force-matcher.cc: In static member function static void brisk::BruteForceMatcher::commonRadiusMatchImpl(brisk::BruteForceMatcher&, const cv::Mat&, std::vector<std::vector<cv::DMatch> >&, float, const std::vector<cv::Mat>&, bool):
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/brute-force-matcher.cc:169:70: error: assert was not declared in this scope
   assert(cv::DataType < ValueType > ::type == queryDescriptors.type());
                                                                      ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/brute-force-matcher.cc: In member function virtual cv::Ptr<cv::DescriptorMatcher> brisk::BruteForceMatcher::clone(bool) const:
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/brute-force-matcher.cc:57:1: error: control reaches end of non-void function [-Werror=return-type]
 }
 ^
cc1plus: all warnings being treated as errors
make[2]: *** [CMakeFiles/brisk.dir/src/brute-force-matcher.cc.o] Error 1
In file included from /home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/vectorized-filters.h:74:0,
                 from /home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/harris-feature-detector.h:48,
                 from /home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/brisk-feature.h:47,
                 from /home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/brisk.h:45,
                 from /home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/harris-scores.h:44,
                 from /home/user/code/catkin/src/ethzasl_brisk/brisk/src/harris-score-calculator.cc:49:
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h: In function void Filter2D16S(cv::Mat&, cv::Mat&, cv::Mat&):
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:57:28: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
   assert(kernel.type() == CV_16S);
                            ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:57:28: note: (if you use -fpermissive, G++ will accept your code, but allowing the use of an undeclared name is deprecated)
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:58:26: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
   assert(Y == kernel.rows);
                          ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:59:26: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
   assert(X == kernel.cols);
                          ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:60:20: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
   assert(X % 2 != 0);
                    ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:61:20: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
   assert(Y % 2 != 0);
                    ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h: In function void Filter2D8U(cv::Mat&, cv::Mat&, cv::Mat&):
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:105:28: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
   assert(kernel.type() == CV_8S);
                            ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:106:26: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
   assert(Y == kernel.rows);
                          ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:107:26: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
   assert(X == kernel.cols);
                          ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:108:20: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
   assert(X % 2 != 0);
                    ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:109:20: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
   assert(Y % 2 != 0);
                    ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h: In function void Filter2D(cv::Mat&, cv::Mat&, cv::Mat&):
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:175:72: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
     assert(0 && "Only CV_8U and CV_16S are supported src matrix types.");
                                                                        ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/harris-score-calculator.cc: In static member function static void brisk::HarrisScoreCalculator::GetCovarEntries(const cv::Mat&, cv::Mat&, cv::Mat&, cv::Mat&):
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/harris-score-calculator.cc:112:25: error: assert was not declared in this scope
   assert(src.type() == CV_8U);
                         ^
make[2]: *** [CMakeFiles/brisk.dir/src/harris-score-calculator.cc.o] Error 1
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/brisk-descriptor-extractor.cc: In member function void brisk::BriskDescriptorExtractor::generateKernel(std::vector<float>&, std::vector<int>&, float, float, std::vector<int>):
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/brisk-descriptor-extractor.cc:75:74: error: assert was not declared in this scope
   assert(radiusList.size() != 0 && radiusList.size() == numberList.size());
                                                                          ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/brisk-descriptor-extractor.cc: In member function void brisk::BriskDescriptorExtractor::InitFromStream(bool, bool, std::istream&, float):
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/brisk-descriptor-extractor.cc:190:31: error: assert was not declared in this scope
   assert(pattern_stream.good());
                               ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/brisk-descriptor-extractor.cc: In constructor brisk::BriskDescriptorExtractor::BriskDescriptorExtractor(const string&, bool, bool, float):
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/brisk-descriptor-extractor.cc:362:26: error: assert was not declared in this scope
   assert(myfile.is_open());
                          ^
make[2]: *** [CMakeFiles/brisk.dir/src/brisk-descriptor-extractor.cc.o] Error 1
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/brisk-scale-space.cc: In member function int brisk::BriskScaleSpace::GetScoreAbove(uint8_t, int, int):
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/brisk-scale-space.cc:293:29: error: assert was not declared in this scope
   assert(layer < layers_ - 1);
                             ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/brisk-scale-space.cc: In member function int brisk::BriskScaleSpace::GetScoreBelow(uint8_t, int, int):
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/brisk-scale-space.cc:333:15: error: assert was not declared in this scope
   assert(layer);
               ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/brisk-scale-space.cc: In member function float brisk::BriskScaleSpace::GetScoreMaxAbove(uint8_t, int, int, int, bool&, float&, float&):
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/brisk-scale-space.cc:772:29: error: assert was not declared in this scope
   assert(layer + 1 < layers_);
                             ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/brisk-scale-space.cc: In member function float brisk::BriskScaleSpace::GetScoreMaxBelow(uint8_t, int, int, int, bool&, float&, float&):
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/brisk-scale-space.cc:946:19: error: assert was not declared in this scope
   assert(layer > 0);
                   ^
make[2]: *** [CMakeFiles/brisk.dir/src/brisk-scale-space.cc.o] Error 1
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/image-down-sampling.cc: In function void brisk::Halfsample16(const cv::Mat&, cv::Mat&):
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/image-down-sampling.cc:76:34: error: assert was not declared in this scope
       assert(x + 15 < srcimg.cols);
                                  ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/image-down-sampling.cc: In function void brisk::Twothirdsample16(const cv::Mat&, cv::Mat&):
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/image-down-sampling.cc:414:68: error: assert was not declared in this scope
   assert(srcimg.type() == CV_16UC1);
                                                                    ^
make[2]: *** [CMakeFiles/brisk.dir/src/image-down-sampling.cc.o] Error 1
In file included from /home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/vectorized-filters.h:74:0,
                 from /home/user/code/catkin/src/ethzasl_brisk/brisk/src/vectorized-filters.cc:48:
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h: In function void Filter2D16S(cv::Mat&, cv::Mat&, cv::Mat&):
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:57:28: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
   assert(kernel.type() == CV_16S);
                            ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:57:28: note: (if you use -fpermissive, G++ will accept your code, but allowing the use of an undeclared name is deprecated)
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:58:26: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
   assert(Y == kernel.rows);
                          ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:59:26: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
   assert(X == kernel.cols);
                          ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:60:20: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
   assert(X % 2 != 0);
                    ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:61:20: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
   assert(Y % 2 != 0);
                    ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h: In function void Filter2D8U(cv::Mat&, cv::Mat&, cv::Mat&):
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:105:28: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
   assert(kernel.type() == CV_8S);
                            ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:106:26: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
   assert(Y == kernel.rows);
                          ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:107:26: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
   assert(X == kernel.cols);
                          ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:108:20: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
   assert(X % 2 != 0);
                    ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:109:20: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
   assert(Y % 2 != 0);
                    ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h: In function void Filter2D(cv::Mat&, cv::Mat&, cv::Mat&):
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:175:72: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
     assert(0 && "Only CV_8U and CV_16S are supported src matrix types.");
                                                                        ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/vectorized-filters.cc: In function void brisk::FilterGauss3by316S(cv::Mat&, cv::Mat&):
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/vectorized-filters.cc:58:20: error: assert was not declared in this scope
   assert(X % 2 != 0);
                    ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/vectorized-filters.cc: In function void brisk::FilterBox3by316S(cv::Mat&, cv::Mat&):
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/vectorized-filters.cc:188:20: error: assert was not declared in this scope
   assert(X % 2 != 0);
                    ^
make[2]: *** [CMakeFiles/brisk.dir/src/vectorized-filters.cc.o] Error 1
In file included from /home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/vectorized-filters.h:74:0,
                 from /home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/harris-feature-detector.h:48,
                 from /home/user/code/catkin/src/ethzasl_brisk/brisk/src/harris-feature-detector.cc:48:
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h: In function void Filter2D16S(cv::Mat&, cv::Mat&, cv::Mat&):
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:57:28: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
   assert(kernel.type() == CV_16S);
                            ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:57:28: note: (if you use -fpermissive, G++ will accept your code, but allowing the use of an undeclared name is deprecated)
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:58:26: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
   assert(Y == kernel.rows);
                          ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:59:26: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
   assert(X == kernel.cols);
                          ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:60:20: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
   assert(X % 2 != 0);
                    ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:61:20: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
   assert(Y % 2 != 0);
                    ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h: In function void Filter2D8U(cv::Mat&, cv::Mat&, cv::Mat&):
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:105:28: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
   assert(kernel.type() == CV_8S);
                            ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:106:26: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
   assert(Y == kernel.rows);
                          ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:107:26: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
   assert(X == kernel.cols);
                          ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:108:20: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
   assert(X % 2 != 0);
                    ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:109:20: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
   assert(Y % 2 != 0);
                    ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h: In function void Filter2D(cv::Mat&, cv::Mat&, cv::Mat&):
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:175:72: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
     assert(0 && "Only CV_8U and CV_16S are supported src matrix types.");
                                                                        ^
make[2]: *** [CMakeFiles/brisk.dir/src/harris-feature-detector.cc.o] Error 1
In file included from /home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/vectorized-filters.h:74:0,
                 from /home/user/code/catkin/src/ethzasl_brisk/brisk/src/harris-score-calculator-float.cc:46:
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h: In function void Filter2D16S(cv::Mat&, cv::Mat&, cv::Mat&):
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:57:28: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
   assert(kernel.type() == CV_16S);
                            ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:57:28: note: (if you use -fpermissive, G++ will accept your code, but allowing the use of an undeclared name is deprecated)
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:58:26: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
   assert(Y == kernel.rows);
                          ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:59:26: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
   assert(X == kernel.cols);
                          ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:60:20: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
   assert(X % 2 != 0);
                    ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:61:20: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
   assert(Y % 2 != 0);
                    ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h: In function void Filter2D8U(cv::Mat&, cv::Mat&, cv::Mat&):
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:105:28: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
   assert(kernel.type() == CV_8S);
                            ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:106:26: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
   assert(Y == kernel.rows);
                          ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:107:26: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
   assert(X == kernel.cols);
                          ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:108:20: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
   assert(X % 2 != 0);
                    ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:109:20: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
   assert(Y % 2 != 0);
                    ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h: In function void Filter2D(cv::Mat&, cv::Mat&, cv::Mat&):
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:175:72: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
     assert(0 && "Only CV_8U and CV_16S are supported src matrix types.");
                                                                        ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/harris-score-calculator-float.cc: In static member function static void brisk::HarrisScoreCalculatorFloat::GetCovarEntries(const cv::Mat&, cv::Mat&, cv::Mat&, cv::Mat&):
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/harris-score-calculator-float.cc:118:35: error: assert was not declared in this scope
     assert(0 && "Unsupported type");
                                   ^
make[2]: *** [CMakeFiles/brisk.dir/src/harris-score-calculator-float.cc.o] Error 1
In file included from /home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/vectorized-filters.h:74:0,
                 from /home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/harris-feature-detector.h:48,
                 from /home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/brisk-feature.h:47,
                 from /home/user/code/catkin/src/ethzasl_brisk/brisk/src/camera-aware-feature.cc:12:
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h: In function void Filter2D16S(cv::Mat&, cv::Mat&, cv::Mat&):
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:57:28: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
   assert(kernel.type() == CV_16S);
                            ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:57:28: note: (if you use -fpermissive, G++ will accept your code, but allowing the use of an undeclared name is deprecated)
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:58:26: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
   assert(Y == kernel.rows);
                          ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:59:26: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
   assert(X == kernel.cols);
                          ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:60:20: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
   assert(X % 2 != 0);
                    ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:61:20: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
   assert(Y % 2 != 0);
                    ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h: In function void Filter2D8U(cv::Mat&, cv::Mat&, cv::Mat&):
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:105:28: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
   assert(kernel.type() == CV_8S);
                            ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:106:26: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
   assert(Y == kernel.rows);
                          ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:107:26: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
   assert(X == kernel.cols);
                          ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:108:20: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
   assert(X % 2 != 0);
                    ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:109:20: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
   assert(Y % 2 != 0);
                    ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h: In function void Filter2D(cv::Mat&, cv::Mat&, cv::Mat&):
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:175:72: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
     assert(0 && "Only CV_8U and CV_16S are supported src matrix types.");
                                                                        ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/camera-aware-feature.cc: In member function virtual void brisk::CameraAwareFeature::operator()(cv::InputArray, cv::InputArray, std::vector<cv::KeyPoint>&, cv::OutputArray, bool) const:
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/camera-aware-feature.cc:549:64: error: const struct cv::Ptr<const cv::Feature2D> has no member named obj
         dynamic_cast<const brisk::BriskFeature*>(_feature2dPtr.obj);
                                                                ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/camera-aware-feature.cc:551:71: error: passing const brisk::BriskFeature as this argument of virtual void cv::Feature2D::detect(cv::InputArray, std::vector<cv::KeyPoint>&, cv::InputArray) discards qualifiers [-fpermissive]
       briskFeaturePtr->detect(image.getMat(), keypoints, mask.getMat());  // this is already taking keypoints, if provided
                                                                       ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/camera-aware-feature.cc:553:67: error: passing const cv::Feature2D as this argument of virtual void cv::Feature2D::detect(cv::InputArray, std::vector<cv::KeyPoint>&, cv::InputArray) discards qualifiers [-fpermissive]
     _feature2dPtr->detect(image.getMat(), keypoints, mask.getMat());  // this will clear keypoints
                                                                   ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/camera-aware-feature.cc:637:81: error: passing const cv::Feature2D as this argument of virtual void cv::Feature2D::compute(cv::InputArray, std::vector<cv::KeyPoint>&, cv::OutputArray) discards qualifiers [-fpermissive]
     _feature2dPtr->compute(undistorted_image, undistortedKeypoints, descriptors_);
                                                                                 ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/camera-aware-feature.cc: In member function virtual void brisk::CameraAwareFeature::detectImpl(const cv::Mat&, std::vector<cv::KeyPoint>&, const cv::Mat&) const:
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/camera-aware-feature.cc:706:47: error: passing const cv::Feature2D as this argument of virtual void cv::Feature2D::detect(cv::InputArray, std::vector<cv::KeyPoint>&, cv::InputArray) discards qualifiers [-fpermissive]
   _feature2dPtr->detect(image, keypoints, mask);
                                               ^
make[2]: *** [CMakeFiles/brisk.dir/src/camera-aware-feature.cc.o] Error 1
In file included from /home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/vectorized-filters.h:74:0,
                 from /home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/harris-feature-detector.h:48,
                 from /home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/brisk-feature.h:47,
                 from /home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/brisk.h:45,
                 from /home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/harris-scores.h:44,
                 from /home/user/code/catkin/src/ethzasl_brisk/brisk/src/harris-scores.cc:48:
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h: In function void Filter2D16S(cv::Mat&, cv::Mat&, cv::Mat&):
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:57:28: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
   assert(kernel.type() == CV_16S);
                            ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:57:28: note: (if you use -fpermissive, G++ will accept your code, but allowing the use of an undeclared name is deprecated)
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:58:26: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
   assert(Y == kernel.rows);
                          ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:59:26: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
   assert(X == kernel.cols);
                          ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:60:20: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
   assert(X % 2 != 0);
                    ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:61:20: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
   assert(Y % 2 != 0);
                    ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h: In function void Filter2D8U(cv::Mat&, cv::Mat&, cv::Mat&):
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:105:28: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
   assert(kernel.type() == CV_8S);
                            ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:106:26: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
   assert(Y == kernel.rows);
                          ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:107:26: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
   assert(X == kernel.cols);
                          ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:108:20: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
   assert(X % 2 != 0);
                    ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:109:20: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
   assert(Y % 2 != 0);
                    ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h: In function void Filter2D(cv::Mat&, cv::Mat&, cv::Mat&):
/home/user/code/catkin/src/ethzasl_brisk/brisk/include/brisk/internal/./vectorized-filters-inl.h:175:72: error: there are no arguments to assert that depend on a template parameter, so a declaration of assert must be available [-fpermissive]
     assert(0 && "Only CV_8U and CV_16S are supported src matrix types.");
                                                                        ^
make[2]: *** [CMakeFiles/brisk.dir/src/harris-scores.cc.o] Error 1
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/brisk-v1.cc: In member function void brisk_v1::BriskDescriptorExtractor::generateKernel(std::vector<float>&, std::vector<int>&, float, float, std::vector<int>):
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/brisk-v1.cc:107:68: error: assert was not declared in this scope
   assert(radiusList.size()!=0&&radiusList.size()==numberList.size());
                                                                    ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/brisk-v1.cc: In member function virtual void brisk_v1::BriskFeatureDetector::detectImpl(const cv::Mat&, std::vector<cv::KeyPoint>&, const cv::Mat&) const:
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/brisk-v1.cc:558:38: error: removeInvalidPoints was not declared in this scope
   removeInvalidPoints(mask, keypoints);
                                      ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/brisk-v1.cc: In member function int brisk_v1::BriskScaleSpace::getScoreAbove(uint8_t, int, int):
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/brisk-v1.cc:709:25: error: assert was not declared in this scope
   assert(layer<layers_-1);
                         ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/brisk-v1.cc: In member function int brisk_v1::BriskScaleSpace::getScoreBelow(uint8_t, int, int):
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/brisk-v1.cc:745:15: error: assert was not declared in this scope
   assert(layer);
               ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/brisk-v1.cc: In member function float brisk_v1::BriskScaleSpace::getScoreMaxAbove(uint8_t, int, int, int, bool&, float&, float&):
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/brisk-v1.cc:1119:25: error: assert was not declared in this scope
   assert(layer+1<layers_);
                         ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/brisk-v1.cc: In member function float brisk_v1::BriskScaleSpace::getScoreMaxBelow(uint8_t, int, int, int, bool&, float&, float&):
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/brisk-v1.cc:1278:17: error: assert was not declared in this scope
   assert(layer>0);
                 ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/brisk-v1.cc: In constructor brisk_v1::BriskLayer::BriskLayer(const cv::Mat&, float, float):
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/brisk-v1.cc:1654:17: error: no match for operator= (operand types are cv::Ptr<agast::OastDetector9_16> and agast::OastDetector9_16*)
   oastDetector_ = new agast::OastDetector9_16(img.cols, img.rows, 0);
                 ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/brisk-v1.cc:1654:17: note: candidates are:
In file included from /home/user/code/catkin/devel/include/opencv2/core/cvstd.hpp:906:0,
                 from /home/user/code/catkin/devel/include/opencv2/core/base.hpp:54,
                 from /home/user/code/catkin/devel/include/opencv2/core.hpp:52,
                 from /home/user/code/catkin/devel/include/opencv2/features2d.hpp:46,
                 from /home/user/code/catkin/devel/include/opencv2/features2d/features2d.hpp:48,
                 from /home/user/code/catkin/src/ethzasl_brisk/brisk/src/brisk-v1.cc:36:
/home/user/code/catkin/devel/include/opencv2/core/ptr.inl.hpp:158:9: note: cv::Ptr<T>& cv::Ptr<T>::operator=(const cv::Ptr<T>&) [with T = agast::OastDetector9_16]
 Ptr<T>& Ptr<T>::operator = (const Ptr<T>& o)
         ^
/home/user/code/catkin/devel/include/opencv2/core/ptr.inl.hpp:158:9: note:   no known conversion for argument 1 from agast::OastDetector9_16* to const cv::Ptr<agast::OastDetector9_16>&
In file included from /home/user/code/catkin/devel/include/opencv2/core/base.hpp:54:0,
                 from /home/user/code/catkin/devel/include/opencv2/core.hpp:52,
                 from /home/user/code/catkin/devel/include/opencv2/features2d.hpp:46,
                 from /home/user/code/catkin/devel/include/opencv2/features2d/features2d.hpp:48,
                 from /home/user/code/catkin/src/ethzasl_brisk/brisk/src/brisk-v1.cc:36:
/home/user/code/catkin/devel/include/opencv2/core/cvstd.hpp:245:10: note: template<class Y> cv::Ptr<T>& cv::Ptr<T>::operator=(const cv::Ptr<Y>&) [with Y = Y; T = agast::OastDetector9_16]
     Ptr& operator = (const Ptr<Y>& o);
          ^
/home/user/code/catkin/devel/include/opencv2/core/cvstd.hpp:245:10: note:   template argument deduction/substitution failed:
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/brisk-v1.cc:1654:17: note:   mismatched types const cv::Ptr<T> and agast::OastDetector9_16*
   oastDetector_ = new agast::OastDetector9_16(img.cols, img.rows, 0);
                 ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/brisk-v1.cc:1655:22: error: no match for operator= (operand types are cv::Ptr<agast::AgastDetector5_8> and agast::AgastDetector5_8*)
   agastDetector_5_8_ = new agast::AgastDetector5_8(img.cols, img.rows, 0);
                      ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/brisk-v1.cc:1655:22: note: candidates are:
In file included from /home/user/code/catkin/devel/include/opencv2/core/cvstd.hpp:906:0,
                 from /home/user/code/catkin/devel/include/opencv2/core/base.hpp:54,
                 from /home/user/code/catkin/devel/include/opencv2/core.hpp:52,
                 from /home/user/code/catkin/devel/include/opencv2/features2d.hpp:46,
                 from /home/user/code/catkin/devel/include/opencv2/features2d/features2d.hpp:48,
                 from /home/user/code/catkin/src/ethzasl_brisk/brisk/src/brisk-v1.cc:36:
/home/user/code/catkin/devel/include/opencv2/core/ptr.inl.hpp:158:9: note: cv::Ptr<T>& cv::Ptr<T>::operator=(const cv::Ptr<T>&) [with T = agast::AgastDetector5_8]
 Ptr<T>& Ptr<T>::operator = (const Ptr<T>& o)
         ^
/home/user/code/catkin/devel/include/opencv2/core/ptr.inl.hpp:158:9: note:   no known conversion for argument 1 from agast::AgastDetector5_8* to const cv::Ptr<agast::AgastDetector5_8>&
In file included from /home/user/code/catkin/devel/include/opencv2/core/base.hpp:54:0,
                 from /home/user/code/catkin/devel/include/opencv2/core.hpp:52,
                 from /home/user/code/catkin/devel/include/opencv2/features2d.hpp:46,
                 from /home/user/code/catkin/devel/include/opencv2/features2d/features2d.hpp:48,
                 from /home/user/code/catkin/src/ethzasl_brisk/brisk/src/brisk-v1.cc:36:
/home/user/code/catkin/devel/include/opencv2/core/cvstd.hpp:245:10: note: template<class Y> cv::Ptr<T>& cv::Ptr<T>::operator=(const cv::Ptr<Y>&) [with Y = Y; T = agast::AgastDetector5_8]
     Ptr& operator = (const Ptr<Y>& o);
          ^
/home/user/code/catkin/devel/include/opencv2/core/cvstd.hpp:245:10: note:   template argument deduction/substitution failed:
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/brisk-v1.cc:1655:22: note:   mismatched types const cv::Ptr<T> and agast::AgastDetector5_8*
   agastDetector_5_8_ = new agast::AgastDetector5_8(img.cols, img.rows, 0);
                      ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/brisk-v1.cc: In constructor brisk_v1::BriskLayer::BriskLayer(const brisk_v1::BriskLayer&, int):
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/brisk-v1.cc:1672:17: error: no match for operator= (operand types are cv::Ptr<agast::OastDetector9_16> and agast::OastDetector9_16*)
   oastDetector_ = new agast::OastDetector9_16(img_.cols, img_.rows, 0);
                 ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/brisk-v1.cc:1672:17: note: candidates are:
In file included from /home/user/code/catkin/devel/include/opencv2/core/cvstd.hpp:906:0,
                 from /home/user/code/catkin/devel/include/opencv2/core/base.hpp:54,
                 from /home/user/code/catkin/devel/include/opencv2/core.hpp:52,
                 from /home/user/code/catkin/devel/include/opencv2/features2d.hpp:46,
                 from /home/user/code/catkin/devel/include/opencv2/features2d/features2d.hpp:48,
                 from /home/user/code/catkin/src/ethzasl_brisk/brisk/src/brisk-v1.cc:36:
/home/user/code/catkin/devel/include/opencv2/core/ptr.inl.hpp:158:9: note: cv::Ptr<T>& cv::Ptr<T>::operator=(const cv::Ptr<T>&) [with T = agast::OastDetector9_16]
 Ptr<T>& Ptr<T>::operator = (const Ptr<T>& o)
         ^
/home/user/code/catkin/devel/include/opencv2/core/ptr.inl.hpp:158:9: note:   no known conversion for argument 1 from agast::OastDetector9_16* to const cv::Ptr<agast::OastDetector9_16>&
In file included from /home/user/code/catkin/devel/include/opencv2/core/base.hpp:54:0,
                 from /home/user/code/catkin/devel/include/opencv2/core.hpp:52,
                 from /home/user/code/catkin/devel/include/opencv2/features2d.hpp:46,
                 from /home/user/code/catkin/devel/include/opencv2/features2d/features2d.hpp:48,
                 from /home/user/code/catkin/src/ethzasl_brisk/brisk/src/brisk-v1.cc:36:
/home/user/code/catkin/devel/include/opencv2/core/cvstd.hpp:245:10: note: template<class Y> cv::Ptr<T>& cv::Ptr<T>::operator=(const cv::Ptr<Y>&) [with Y = Y; T = agast::OastDetector9_16]
     Ptr& operator = (const Ptr<Y>& o);
          ^
/home/user/code/catkin/devel/include/opencv2/core/cvstd.hpp:245:10: note:   template argument deduction/substitution failed:
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/brisk-v1.cc:1672:17: note:   mismatched types const cv::Ptr<T> and agast::OastDetector9_16*
   oastDetector_ = new agast::OastDetector9_16(img_.cols, img_.rows, 0);
                 ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/brisk-v1.cc:1673:22: error: no match for operator= (operand types are cv::Ptr<agast::AgastDetector5_8> and agast::AgastDetector5_8*)
   agastDetector_5_8_ = new agast::AgastDetector5_8(img_.cols, img_.rows, 0);
                      ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/brisk-v1.cc:1673:22: note: candidates are:
In file included from /home/user/code/catkin/devel/include/opencv2/core/cvstd.hpp:906:0,
                 from /home/user/code/catkin/devel/include/opencv2/core/base.hpp:54,
                 from /home/user/code/catkin/devel/include/opencv2/core.hpp:52,
                 from /home/user/code/catkin/devel/include/opencv2/features2d.hpp:46,
                 from /home/user/code/catkin/devel/include/opencv2/features2d/features2d.hpp:48,
                 from /home/user/code/catkin/src/ethzasl_brisk/brisk/src/brisk-v1.cc:36:
/home/user/code/catkin/devel/include/opencv2/core/ptr.inl.hpp:158:9: note: cv::Ptr<T>& cv::Ptr<T>::operator=(const cv::Ptr<T>&) [with T = agast::AgastDetector5_8]
 Ptr<T>& Ptr<T>::operator = (const Ptr<T>& o)
         ^
/home/user/code/catkin/devel/include/opencv2/core/ptr.inl.hpp:158:9: note:   no known conversion for argument 1 from agast::AgastDetector5_8* to const cv::Ptr<agast::AgastDetector5_8>&
In file included from /home/user/code/catkin/devel/include/opencv2/core/base.hpp:54:0,
                 from /home/user/code/catkin/devel/include/opencv2/core.hpp:52,
                 from /home/user/code/catkin/devel/include/opencv2/features2d.hpp:46,
                 from /home/user/code/catkin/devel/include/opencv2/features2d/features2d.hpp:48,
                 from /home/user/code/catkin/src/ethzasl_brisk/brisk/src/brisk-v1.cc:36:
/home/user/code/catkin/devel/include/opencv2/core/cvstd.hpp:245:10: note: template<class Y> cv::Ptr<T>& cv::Ptr<T>::operator=(const cv::Ptr<Y>&) [with Y = Y; T = agast::AgastDetector5_8]
     Ptr& operator = (const Ptr<Y>& o);
          ^
/home/user/code/catkin/devel/include/opencv2/core/cvstd.hpp:245:10: note:   template argument deduction/substitution failed:
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/brisk-v1.cc:1673:22: note:   mismatched types const cv::Ptr<T> and agast::AgastDetector5_8*
   agastDetector_5_8_ = new agast::AgastDetector5_8(img_.cols, img_.rows, 0);
                      ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/brisk-v1.cc: In member function uint8_t brisk_v1::BriskLayer::value(const cv::Mat&, float, float, float):
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/brisk-v1.cc:1742:22: error: assert was not declared in this scope
   assert(!mat.empty());
                      ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/brisk-v1.cc: In static member function static void brisk_v1::BriskLayer::halfsample(const cv::Mat&, cv::Mat&):
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/brisk-v1.cc:1845:36: error: assert was not declared in this scope
   assert(srcimg.cols/2==dstimg.cols);
                                    ^
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/brisk-v1.cc: In static member function static void brisk_v1::BriskLayer::twothirdsample(const cv::Mat&, cv::Mat&):
/home/user/code/catkin/src/ethzasl_brisk/brisk/src/brisk-v1.cc:1978:40: error: assert was not declared in this scope
   assert((srcimg.cols/3)*2==dstimg.cols);
                                        ^
make[2]: *** [CMakeFiles/brisk.dir/src/brisk-v1.cc.o] Error 1
make[1]: *** [CMakeFiles/brisk.dir/all] Error 2
make: *** [all] Error 2

[dymczykm]

I assume this is no longer valid. Closing.