replace to CV_Assert_N()

 modules/stereo/src/descriptor.cpp:229:34: error: ordered comparison between pointer and zero ('const int *' and 'int')
	     CV_Assert(image.size > 0);
		       ~~~~~~~~~~ ^ ~
 modules/core/include/opencv2/core/base.hpp:478:84: note: expanded from macro 'CV_Assert'
 #define CV_Assert(...) do { CVAUX_CONCAT(CV_Assert_, CV_VA_NUM_ARGS(__VA_ARGS__)) (__VA_ARGS__); } while(0)
										    ^~~~~~~~~~~
 modules/core/include/opencv2/core/base.hpp:455:35: note: expanded from macro 'CV_Assert_1'
 #define CV_Assert_1( expr ) if(!!(expr)) ; else cv::error( cv::Error::StsAssert, #expr, CV_Func, __FILE__, __LINE__ )
				   ^~~~
 modules/stereo/src/descriptor.cpp:230:33: error: ordered comparison between pointer and zero ('const int *' and 'int')
	     CV_Assert(cost.size > 0);
		       ~~~~~~~~~ ^ ~
 modules/core/include/opencv2/core/base.hpp:478:84: note: expanded from macro 'CV_Assert'
 #define CV_Assert(...) do { CVAUX_CONCAT(CV_Assert_, CV_VA_NUM_ARGS(__VA_ARGS__)) (__VA_ARGS__); } while(0)
										    ^~~~~~~~~~~
 modules/core/include/opencv2/core/base.hpp:455:35: note: expanded from macro 'CV_Assert_1'
 #define CV_Assert_1( expr ) if(!!(expr)) ; else cv::error( cv::Error::StsAssert, #expr, CV_Func, __FILE__, __LINE__ )
				   ^~~~

* Process InputOutputArray when BM3D_STEPALL is set

* Step1 created if needed- noArray in test

* fix #1665 ChAruco board topology (nearestMarkerIdx) is sensitive to scale

* Some bugs in deriche and paillou filter

* Cv_Assert to CV_CheckType

enables an ordered chain of full-screen post processing effects

Bug fixes: using mask with BinaryDescriptor  (#1652)

* Bug fixes: erasing an element from std::vector should not move iterator forward

* Bug fixes: add a NULL checking

* Remove the appoggio matrix generation, which is useless