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I don't know how often this question already came up. It seems the tutorial is a little bit outdated, so not your fault (however you could have searched here this forum!). Anyway the solution is to include both features2d/features2d.hpp and nonfree/nonfree.hpp, if you want to use flann, also include flann/flann.hpp . Furthermore call initModule_nonfree(); before using the nonfree-module.
