build error

root@milton-OptiPlex-9010:/data/code2/stereo-vision/stereo_egomotion/main/egomotion_simple# cmake .
-- No build type selected, default to DEBUG
Mode: DEBUG
-- /data/code2/stereo-vision/tracker/mono/config_parser.cc;/data/code2/stereo-vision/tracker/mono/tracker_bfm.cc;/data/code2/stereo-vision/tracker/mono/tracker_stm.cc;/data/code2/stereo-vision/tracker/mono/tracker_bfm_cv.cc;/data/code2/stereo-vision/tracker/mono/birch/klt_util.c;/data/code2/stereo-vision/tracker/mono/birch/klt.c;/data/code2/stereo-vision/tracker/mono/birch/pyramid.c;/data/code2/stereo-vision/tracker/mono/birch/trackFeatures.c;/data/code2/stereo-vision/tracker/mono/birch/storeFeatures.c;/data/code2/stereo-vision/tracker/mono/birch/convolve_unix.c;/data/code2/stereo-vision/tracker/mono/birch/selectGoodFeatures.c;/data/code2/stereo-vision/tracker/mono/birch/error.c
-- 
-- /data/code2/stereo-vision/stereo_egomotion/main/egomotion_simple/egomotion_simple.cc;/data/code2/stereo-vision/stereo_egomotion/main/egomotion_simple/../../math_helper.cc;/data/code2/stereo-vision/stereo_egomotion/main/egomotion_simple/../../helper_libviso.cc;/data/code2/stereo-vision/stereo_egomotion/main/egomotion_simple/../../feature_helper.cc
-- OpenCV = opencv_core;opencv_imgproc;opencv_highgui;opencv_features2d
-- Boost = boost_program_options;boost_serialization
-- Configuring done
-- Generating done
-- Build files have been written to: /data/code2/stereo-vision/stereo_egomotion/main/egomotion_simple
root@milton-OptiPlex-9010:/data/code2/stereo-vision/stereo_egomotion/main/egomotion_simple# make
[ 11%] Built target egomotion_base
[ 20%] Built target core
[ 26%] Built target tracker_base
Scanning dependencies of target detector
[ 28%] Building CXX object libs/stereo/libs/mono/libs/detector/CMakeFiles/detector.dir/feature_detector_agast.cc.o
/data/code2/stereo-vision/tracker/detector/feature_detector_agast.cc: In constructor ‘track::FeatureDetectorAGAST::FeatureDetectorAGAST(int, bool, std::string)’:
/data/code2/stereo-vision/tracker/detector/feature_detector_agast.cc:12:33: error: ‘cv::xfeatures2d::AgastFeatureDetector’ has not been declared
     ast_type = cv::xfeatures2d::AgastFeatureDetector::OAST_9_16;
                                 ^
/data/code2/stereo-vision/tracker/detector/feature_detector_agast.cc:14:33: error: ‘cv::xfeatures2d::AgastFeatureDetector’ has not been declared
     ast_type = cv::xfeatures2d::AgastFeatureDetector::AGAST_5_8;
                                 ^
/data/code2/stereo-vision/tracker/detector/feature_detector_agast.cc:19:32: error: ‘cv::xfeatures2d::AgastFeatureDetector’ has not been declared
   detector_ = cv::xfeatures2d::AgastFeatureDetector::create(threshold, nonmax_suppression, ast_type);
                                ^
make[2]: *** [libs/stereo/libs/mono/libs/detector/CMakeFiles/detector.dir/feature_detector_agast.cc.o] Error 1
make[1]: *** [libs/stereo/libs/mono/libs/detector/CMakeFiles/detector.dir/all] Error 2
make: *** [all] Error 2
root@milton-OptiPlex-9010:/data/code2/stereo-vision/stereo_egomotion/main/egomotion_simple#