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For me i used version of Opencv 3.3.1 with the newest port of \url{https://github.com/felixendres/rgbdslam_v2} to ros kinetic furthermore i had to remove add_definitions(-DCV_NONFREE) from the cmakelists.txt even so i used my own opencv version which will result in surf and sift not being usable but orb is better anyway.

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