compile error in "frame_handler_old.cpp"

[zxp771]

Hi I tried to catkin build the code But I met these error cloud you give me some suggestion to solve this problem?

/home/zxp/catkin_ws/src/SVO/rpg_svo/svo/src/frame_handler_old.cpp: In constructor ‘svo::FrameHandlerMonodepth::FrameHandlerMonodepth(vk::AbstractCamera*)’: /home/zxp/catkin_ws/src/SVO/rpg_svo/svo/src/frame_handler_old.cpp:43:3: error: class ‘svo::FrameHandlerMonodepth’ does not have any field named ‘cnn_lo_nearfts’ cnn_lo_nearfts(vk::getParam("svo/cnn_lo_near_fts", 1.0f)), ^ /home/zxp/catkin_ws/src/SVO/rpg_svo/svo/src/frame_handler_old.cpp:44:3: error: class ‘svo::FrameHandlerMonodepth’ does not have any field named ‘cnn_hi_nearfts’ cnn_hi_nearfts(vk::getParam("svo/cnn_hi_near_fts", 30.0f)), ^ /home/zxp/catkin_ws/src/SVO/rpg_svo/svo/src/frame_handler_old.cpp:45:3: error: class ‘svo::FrameHandlerMonodepth’ does not have any field named ‘cnn_maxdepth’ cnn_maxdepth(vk::getParam("svo/cnn_max_depth", 80.0f)), ^ /home/zxp/catkin_ws/src/SVO/rpg_svo/svo/src/frame_handler_old.cpp:48:3: error: class ‘svo::FrameHandlerMonodepth’ does not have any field named ‘usetimer’ usetimer(true), // set true to show the elapsed time ^ /home/zxp/catkin_ws/src/SVO/rpg_svo/svo/src/frame_handler_old.cpp:49:3: error: class ‘svo::FrameHandlerMonodepth’ does not have any field named ‘opticalflow’ opticalflow(vk::getParam("svo/use_optical_flow", false)) ^ /home/zxp/catkin_ws/src/SVO/rpg_svo/svo/src/frame_handler_old.cpp:57:16: error: ‘class svo::initialization::CNNVOInit’ has no member named ‘setCNNMaxDepth’ cnn_voinit.setCNNMaxDepth(cnn_maxdepth); ^ /home/zxp/catkin_ws/src/SVO/rpg_svo/svo/src/frame_handler_old.cpp:57:31: error: ‘cnn_maxdepth’ was not declared in this scope cnn_voinit.setCNNMaxDepth(cnn_maxdepth); ^ /home/zxp/catkin_ws/src/SVO/rpg_svo/svo/src/frame_handlerold.cpp:61:3: error: ‘t’ was not declared in this scope t_ = new vk::Timer(true); // true to start and stop the timer manually ^ /home/zxp/catkin_ws/src/SVO/rpg_svo/svo/src/frame_handlerold.cpp:61:26: error: no matching function for call to ‘vk::Timer::Timer(bool)’ t = new vk::Timer(true); // true to start and stop the timer manually