the mistake after i run make

[qiyu-lu]

when i Build ORB_SLAM, run make, the following errors occured:
ORB_SLAM/src/PnPsolver.cc:424:26: error: ‘CV_SVD’ was not declared in this scope; did you mean ‘CV_AVX’? 424 | cvInvert(&CC, &CC_inv, CV_SVD); | ^~ | CV_AVX /home/asus/slam_reproduction/ORB_SLAM/src/PnPsolver.cc:424:3: error: ‘cvInvert’ was not declared in this scope 424 | cvInvert(&CC, &CC_inv, CV_SVD); | ^~~~ /home/asus/slam_reproduction/ORB_SLAM/src/PnPsolver.cc: At global scope: /home/asus/slam_reproduction/ORB_SLAM/src/PnPsolver.cc:439:24: error: variable or field ‘fill_M’ declared void 439 | void PnPsolver::fill_M(CvMat M, | ^~~~~ /home/asus/slam_reproduction/ORB_SLAM/src/PnPsolver.cc:439:24: error: ‘CvMat’ was not declared in this scope /home/asus/slam_reproduction/ORB_SLAM/src/PnPsolver.cc:439:32: error: ‘M’ was not declared in this scope 439 | void PnPsolver::fill_M(CvMat M, | ^ /home/asus/slam_reproduction/ORB_SLAM/src/PnPsolver.cc:440:5: error: expected primary-expression before ‘const’ 440 | const int row, const double as, const double u, const double v) | ^~~~~ /home/asus/slam_reproduction/ORB_SLAM/src/PnPsolver.cc:440:20: error: expected primary-expression before ‘const’ 440 | const int row, const double as, const double u, const double v) | ^~~~~ /home/asus/slam_reproduction/ORB_SLAM/src/PnPsolver.cc:440:39: error: expected primary-expression before ‘const’ 440 | const int row, const double as, const double u, const double v) | ^~~~~ /home/asus/slam_reproduction/ORB_SLAM/src/PnPsolver.cc:440:55: error: expected primary-expression before ‘const’ 440 | const int row, const double as, const double u, const double v) | ^~~~~ /home/asus/slam_reproduction/ORB_SLAM/src/PnPsolver.cc: In member function ‘double ORB_SLAM::PnPsolver::compute_pose(double ()[3], double)’: /home/asus/slam_reproduction/ORB_SLAM/src/PnPsolver.cc:485:3: error: ‘CvMat’ was not declared in this scope 485 | CvMat M = cvCreateMat(2 number_of_correspondences, 12, CV_64F); | ^~~~~ /home/asus/slam_reproduction/ORB_SLAM/src/PnPsolver.cc:485:11: error: ‘M’ was not declared in this scope 485 | CvMat M = cvCreateMat(2 number_of_correspondences, 12, CV_64F); | ^ /home/asus/slam_reproduction/ORB_SLAM/src/PnPsolver.cc:485:15: error: ‘cvCreateMat’ was not declared in this scope 485 | CvMat M = cvCreateMat(2 number_of_correspondences, 12, CV_64F); | ^~~ /home/asus/slam_reproduction/ORB_SLAM/src/PnPsolver.cc:491:8: error: expected ‘;’ before ‘MtM’ 491 | CvMat MtM = cvMat(12, 12, CV_64F, mtm); | ^~~~ | ; /home/asus/slam_reproduction/ORB_SLAM/src/PnPsolver.cc:492:8: error: expected ‘;’ before ‘D’ 492 | CvMat D = cvMat(12, 1, CV_64F, d); | ^~ | ; /home/asus/slam_reproduction/ORB_SLAM/src/PnPsolver.cc:493:8: error: expected ‘;’ before ‘Ut’ 493 | CvMat Ut = cvMat(12, 12, CV_64F, ut); | ^~~ | ;