Issues compiling node when using orocos-bfl

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I'm trying to build a particle filter node to acquire the true vanish point amongst a vector of potential candidates. I'm basing my codes for the filter from the tutorials in the ROS wiki, obviously removing everything involving the ardrone fork as I'm not using it. After making sure that my codes have no references to the ardrone fork, I tried to compile the code to see if it has any kind of errors that could stop it from compiling and the catkin_make gives me this lenghty error message, which has references to errors in the codes of the orocos-bfl libraries:

In file included from /opt/ros/kinetic/include/bfl/filter/../model/../pdf/conditionalpdf.h:33:0,
                 from /opt/ros/kinetic/include/bfl/filter/../model/systemmodel.h:34,
                 from /opt/ros/kinetic/include/bfl/filter/filter.h:35,
                 from /opt/ros/kinetic/include/bfl/filter/particlefilter.h:34,
                 from /opt/ros/kinetic/include/bfl/filter/bootstrapfilter.h:35,
                 from /home/jorge/fjorge_ws/src/autonavi3at/src/partfilternode.cpp:1:
/opt/ros/kinetic/include/bfl/filter/../model/../pdf/pdf.h:47:17: error: expected identifier before numeric constant
 #define DEFAULT 0 // Default sampling method, must be valid for every PDF!!
/opt/ros/kinetic/include/bfl/filter/../model/../pdf/pdf.h:47:17: error: expected before numeric constant
                 ^
/opt/ros/kinetic/include/bfl/filter/../model/../pdf/pdf.h:47:17: error: expected } before numeric constant
/opt/ros/kinetic/include/bfl/filter/../model/../pdf/pdf.h:47:17: error: expected unqualified-id before numeric constant
In file included from /opt/ros/kinetic/include/opencv-3.3.1/opencv2/calib3d.hpp:48:0,
                 from /opt/ros/kinetic/include/opencv-3.3.1/opencv2/opencv.hpp:56,
                 from /home/jorge/fjorge_ws/src/autonavi3at/src/partfilternode.cpp:17:
/opt/ros/kinetic/include/opencv-3.3.1/opencv2/features2d.hpp:1194:34: error: variable or field drawKeypoints declared void
 CV_EXPORTS_W void drawKeypoints( InputArray image, const std::vector<KeyPoint>& keypoints, InputOutputArray outImage,
                                  ^
/opt/ros/kinetic/include/opencv-3.3.1/opencv2/features2d.hpp:1194:34: error: InputArray was not declared in this scope
/opt/ros/kinetic/include/opencv-3.3.1/opencv2/features2d.hpp:1194:34: note: suggested alternative:
In file included from /opt/ros/kinetic/include/opencv-3.3.1/opencv2/core.hpp:59:0,
                 from /opt/ros/kinetic/include/opencv-3.3.1/opencv2/opencv.hpp:52,
                 from /home/jorge/fjorge_ws/src/autonavi3at/src/partfilternode.cpp:17:
/opt/ros/kinetic/include/opencv-3.3.1/opencv2/core/mat.hpp:411:28: note:   cv::InputArray
 typedef const _InputArray& InputArray;
                            ^
In file included from /opt/ros/kinetic/include/opencv-3.3.1/opencv2/calib3d.hpp:48:0,
                 from /opt/ros/kinetic/include/opencv-3.3.1/opencv2/opencv.hpp:56,
                 from /home/jorge/fjorge_ws/src/autonavi3at/src/partfilternode.cpp:17:
/opt/ros/kinetic/include/opencv-3.3.1/opencv2/features2d.hpp:1194:52: error: expected primary-expression before const
 CV_EXPORTS_W void drawKeypoints( InputArray image, const std::vector<KeyPoint>& keypoints, InputOutputArray outImage,
                                                    ^
/opt/ros/kinetic/include/opencv-3.3.1/opencv2/features2d.hpp:1194:92: error: InputOutputArray was not declared in ...