编译过程中的错误

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[ 70%] Building CXX object CMakeFiles/ORB_SLAM2_pc.dir/src/Geometry.cc.o
/home/y/ORB_SLAM2_SSD_Semantic-master/ORB_SLAM2_SSD_Semantic-master/perfect/src/Geometry.cc: In member function ‘void DynaSLAM::Geometry::GeometricModelUpdateDB(const ORB_SLAM2::Frame&)’:
/home/y/ORB_SLAM2_SSD_Semantic-master/ORB_SLAM2_SSD_Semantic-master/perfect/src/Geometry.cc:75:22: error: ‘const class ORB_SLAM2::Frame’ has no member named ‘mIsKeyFrame’
if (currentFrame.mIsKeyFrame)// 是关键帧才更新
^
/home/y/ORB_SLAM2_SSD_Semantic-master/ORB_SLAM2_SSD_Semantic-master/perfect/src/Geometry.cc: In member function ‘std::vectorDynaSLAM::Geometry::DynKeyPoint DynaSLAM::Geometry::ExtractDynPoints(const std::vector<ORB_SLAM2::Frame>&, const ORB_SLAM2::Frame&)’:
/home/y/ORB_SLAM2_SSD_Semantic-master/ORB_SLAM2_SSD_Semantic-master/perfect/src/Geometry.cc:170:38: error: ‘class ORB_SLAM2::Frame’ has no member named ‘mImDepth’
const float d = refFrame.mImDepth.at(v,u);// 深度值
^
/home/y/ORB_SLAM2_SSD_Semantic-master/ORB_SLAM2_SSD_Semantic-master/perfect/src/Geometry.cc:170:50: error: expected primary-expression before ‘float’
const float d = refFrame.mImDepth.at(v,u);// 深度值
^
/home/y/ORB_SLAM2_SSD_Semantic-master/ORB_SLAM2_SSD_Semantic-master/perfect/src/Geometry.cc:168:26: warning: unused variable ‘v’ [-Wunused-variable]
const float &v = kp.pt.y;
^
/home/y/ORB_SLAM2_SSD_Semantic-master/ORB_SLAM2_SSD_Semantic-master/perfect/src/Geometry.cc:169:26: warning: unused variable ‘u’ [-Wunused-variable]
const float &u = kp.pt.x;
^
/home/y/ORB_SLAM2_SSD_Semantic-master/ORB_SLAM2_SSD_Semantic-master/perfect/src/Geometry.cc:354:46: error: ‘const class ORB_SLAM2::Frame’ has no member named ‘mImDepth’
const float d = currentFrame.mImDepth.at(y,x);// 当前�
^
/home/y/ORB_SLAM2_SSD_Semantic-master/ORB_SLAM2_SSD_Semantic-master/perfect/src/Geometry.cc:354:58: error: expected primary-expression before ‘float’
const float d = currentFrame.mImDepth.at(y,x);// 当前�
^
/home/y/ORB_SLAM2_SSD_Semantic-master/ORB_SLAM2_SSD_Semantic-master/perfect/src/Geometry.cc:404:41: error: ‘const class ORB_SLAM2::Frame’ has no member named ‘mImDepth’
float _d = currentFrame.mImDepth.at(y,x);// 对应的深
^
/home/y/ORB_SLAM2_SSD_Semantic-master/ORB_SLAM2_SSD_Semantic-master/perfect/src/Geometry.cc:404:53: error: expected primary-expression before ‘float’
float _d = currentFrame.mImDepth.at(y,x);// 对应的深
^
/home/y/ORB_SLAM2_SSD_Semantic-master/ORB_SLAM2_SSD_Semantic-master/perfect/src/Geometry.cc:402:21: warning: unused variable ‘x’ [-Wunused-variable]
int x = (int)matCurrentFrame.at(i,0) + (int)u1.at
^
/home/y/ORB_SLAM2_SSD_Semantic-master/ORB_SLAM2_SSD_Semantic-master/perfect/src/Geometry.cc:403:21: warning: unused variable ‘y’ [-Wunused-variable]
int y = (int)matCurrentFrame.at(i,1) + (int)u1.at
^
/home/y/ORB_SLAM2_SSD_Semantic-master/ORB_SLAM2_SSD_Semantic-master/perfect/src/Geometry.cc:420:21: warning: unused variable ‘xIndex’ [-Wunused-variable]
int xIndex = minIdx.x;// 在关键点前方，靠的较近，��
^
/home/y/ORB_SLAM2_SSD_Semantic-master/ORB_SLAM2_SSD_Semantic-master/perfect/src/Geometry.cc:448:46: error: ‘const class ORB_SLAM2::Frame’ has no member named ‘mImDepth’
cv::Mat patch = currentFrame.mImDepth.rowRange(yIni,yEnd).colRa
^
/home/y/ORB_SLAM2_SSD_Semantic-master/ORB_SLAM2_SSD_Semantic-master/perfect/src/Geometry.cc: In member function ‘bool DynaSLAM::Geometry::IsInFrame(const float&, const float&, const ORB_SLAM2::Frame&)’:
/home/y/ORB_SLAM2_SSD_Semantic-master/ORB_SLAM2_SSD_Semantic-master/perfect/src/Geometry.cc:592:43: error: ‘const class ORB_SLAM2::Frame’ has no member named ‘mImDepth’
return (x > (mDmax + 1) && x < (Frame.mImDepth.cols - mDmax - 1) && y > (mD
^
/home/y/ORB_SLAM2_SSD_Semantic-master/ORB_SLAM2_SSD_Semantic-master/perfect/src/Geometry.cc:592:103: error: ‘const class ORB_SLAM2::Frame’ has no member named ‘mImDepth’
(Frame.mImDepth.cols - mDmax - 1) && y > (mDmax + 1) && y < (Frame.mImDepth.ro
^
/home/y/ORB_SLAM2_SSD_Semantic-master/ORB_SLAM2_SSD_Semantic-master/perfect/src/Geometry.cc: In member function ‘cv::Mat DynaSLAM::Geometry::RegionGrowing(const cv::Mat&, int&, int&, const float&)’:
/home/y/ORB_SLAM2_SSD_Semantic-master/ORB_SLAM2_SSD_Semantic-master/perfect/src/Geometry.cc:636:45: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
while(pixdist < reg_maxdist && reg_size < im.total())
^
CMakeFiles/ORB_SLAM2_pc.dir/build.make:542: recipe for target 'CMakeFiles/ORB_SLAM2_pc.dir/src/Geometry.cc.o' failed
make[2]: *** [CMakeFiles/ORB_SLAM2_pc.dir/src/Geometry.cc.o] Error 1
CMakeFiles/Makefile2:104: recipe for target 'CMakeFiles/ORB_SLAM2_pc.dir/all' failed
make[1]: *** [CMakeFiles/ORB_SLAM2_pc.dir/all] Error 2
Makefile:83: recipe for target 'all' failed
make: *** [all] Error 2