I got an error when I tried to compile orb_slam2 with ubuntu22.

[MitonLee]

The environment I use is ubuntu22, opencv-3.4.10, Pangolin-0.5, and others are some default versions.

The error I encountered when executing ./build.sh is as follows

/home/lee22/vslam/ORB_SLAM2/src/System.cc: In member function ‘void ORB_SLAM2::System::SaveTrajectoryTUM(const string&)’:
/home/lee22/vslam/ORB_SLAM2/src/System.cc:348:60: error: ‘class ORB_SLAM2::Tracking’ has no member named ‘mlpReferences’; did you mean ‘ORB_SLAM2::KeyFrame* ORB_SLAM2::Tracking::mpReferenceKF’? (not accessible from this context)
348 | list<ORB_SLAM2::KeyFrame*>::iterator lRit = mpTracker->mlpReferences.begin();
| ^~~~~~~~~~~~~
In file included from /home/lee22/vslam/ORB_SLAM2/include/System.h:29,
from /home/lee22/vslam/ORB_SLAM2/src/System.cc:22:
/home/lee22/vslam/ORB_SLAM2/include/Tracking.h:174:15: note: declared protected here
174 | KeyFrame* mpReferenceKF;
| ^~~~~~~~~~~~~
/home/lee22/vslam/ORB_SLAM2/src/System.cc:349:44: error: ‘class ORB_SLAM2::Tracking’ has no member named ‘mlFrameTimes’
349 | list::iterator lT = mpTracker->mlFrameTimes.begin();
| ^~~~~~~~~~~~
/home/lee22/vslam/ORB_SLAM2/src/System.cc:350:43: error: ‘class ORB_SLAM2::Tracking’ has no member named ‘mlbLost’
350 | list::iterator lbL = mpTracker->mlbLost.begin();
| ^~~~~~~
/home/lee22/vslam/ORB_SLAM2/src/System.cc:351:48: error: ‘class ORB_SLAM2::Tracking’ has no member named ‘mlRelativeFramePoses’
351 | for(listcv::Mat::iterator lit=mpTracker->mlRelativeFramePoses.begin(),
| ^~~~~~~~~~~~~~~~~~~~
/home/lee22/vslam/ORB_SLAM2/src/System.cc:352:57: error: ‘lend’ was not declared in this scope
352 | lend=mpTracker->mlRelativeFramePoses.end();lit!=lend;lit++, lRit++, lT++, lbL++)
| ^~~~
/home/lee22/vslam/ORB_SLAM2/src/Tracking.cc: In member function ‘void ORB_SLAM2::Tracking::Track()’:
/home/lee22/vslam/ORB_SLAM2/src/Tracking.cc:491:9: error: ‘mlRelativeFramePoses’ was not declared in this scope
491 | mlRelativeFramePoses.push_back(Tcr);
| ^~~~~~~~~~~~~~~~~~~~
/home/lee22/vslam/ORB_SLAM2/src/System.cc: In member function ‘void ORB_SLAM2::System::SaveTrajectoryKITTI(const string&)’:
/home/lee22/vslam/ORB_SLAM2/src/System.cc:445:60: error: ‘class ORB_SLAM2::Tracking’ has no member named ‘mlpReferences’; did you mean ‘ORB_SLAM2::KeyFrame* ORB_SLAM2::Tracking::mpReferenceKF’? (not accessible from this context)
445 | list<ORB_SLAM2::KeyFrame*>::iterator lRit = mpTracker->mlpReferences.begin();
| ^~~~~~~~~~~~~
In file included from /home/lee22/vslam/ORB_SLAM2/include/System.h:29,
from /home/lee22/vslam/ORB_SLAM2/src/System.cc:22:
/home/lee22/vslam/ORB_SLAM2/include/Tracking.h:174:15: note: declared protected here
174 | KeyFrame* mpReferenceKF;
| ^~~~~~~~~~~~~
/home/lee22/vslam/ORB_SLAM2/src/System.cc:446:44: error: ‘class ORB_SLAM2::Tracking’ has no member named ‘mlFrameTimes’
446 | list::iterator lT = mpTracker->mlFrameTimes.begin();
| ^~~~~~~~~~~~
/home/lee22/vslam/ORB_SLAM2/src/System.cc:447:48: error: ‘class ORB_SLAM2::Tracking’ has no member named ‘mlRelativeFramePoses’
447 | for(listcv::Mat::iterator lit=mpTracker->mlRelativeFramePoses.begin(), lend=mpTracker->mlRelativeFramePoses.end();lit!=lend;lit++, lRit++, lT++)
| ^~~~~~~~~~~~~~~~~~~~
/home/lee22/vslam/ORB_SLAM2/src/System.cc:447:126: error: ‘lend’ was not declared in this scope
447 | :Mat>::iterator lit=mpTracker->mlRelativeFramePoses.begin(), lend=mpTracker->mlRelativeFramePoses.end();lit!=lend;lit++, lRit++, lT++)
| ^~~~

/home/lee22/vslam/ORB_SLAM2/src/Tracking.cc:492:9: error: ‘mlpReferences’ was not declared in this scope; did you mean ‘mpReferenceKF’?
492 | mlpReferences.push_back(mpReferenceKF);
| ^~~~~~~~~~~~~
| mpReferenceKF
/home/lee22/vslam/ORB_SLAM2/src/Tracking.cc:493:9: error: ‘mlFrameTimes’ was not declared in this scope
493 | mlFrameTimes.push_back(mCurrentFrame.mTimeStamp);
| ^~~~~~~~~~~~
/home/lee22/vslam/ORB_SLAM2/src/Tracking.cc:494:9: error: ‘mlbLost’ was not declared in this scope
494 | mlbLost.push_back(mState==LOST);
| ^~~~~~~
/home/lee22/vslam/ORB_SLAM2/src/Tracking.cc:499:9: error: ‘mlRelativeFramePoses’ was not declared in this scope
499 | mlRelativeFramePoses.push_back(mlRelativeFramePoses.back());
| ^~~~~~~~~~~~~~~~~~~~
/home/lee22/vslam/ORB_SLAM2/src/Tracking.cc:500:9: error: ‘mlpReferences’ was not declared in this scope; did you mean ‘mpReferenceKF’?
500 | mlpReferences.push_back(mlpReferences.back());
| ^~~~~~~~~~~~~
| mpReferenceKF
/home/lee22/vslam/ORB_SLAM2/src/Tracking.cc:501:9: error: ‘mlFrameTimes’ was not declared in this scope
501 | mlFrameTimes.push_back(mlFrameTimes.back());
| ^~~~~~~~~~~~
/home/lee22/vslam/ORB_SLAM2/src/Tracking.cc:502:9: error: ‘mlbLost’ was not declared in this scope
502 | mlbLost.push_back(mState==LOST);
| ^~~~~~~
/home/lee22/vslam/ORB_SLAM2/src/Tracking.cc: In member function ‘void ORB_SLAM2::Tracking::UpdateLastFrame()’:
/home/lee22/vslam/ORB_SLAM2/src/Tracking.cc:804:19: error: ‘mlRelativeFramePoses’ was not declared in this scope
804 | cv::Mat Tlr = mlRelativeFramePoses.back();
| ^~~~~~~~~~~~~~~~~~~~
/home/lee22/vslam/ORB_SLAM2/src/Tracking.cc: In member function ‘void ORB_SLAM2::Tracking::Reset()’:
/home/lee22/vslam/ORB_SLAM2/src/Tracking.cc:1542:5: error: ‘mlRelativeFramePoses’ was not declared in this scope
1542 | mlRelativeFramePoses.clear();
| ^~~~~~~~~~~~~~~~~~~~
/home/lee22/vslam/ORB_SLAM2/src/Tracking.cc:1543:5: error: ‘mlpReferences’ was not declared in this scope; did you mean ‘mpReferenceKF’?
1543 | mlpReferences.clear();
| ^~~~~~~~~~~~~
| mpReferenceKF
/home/lee22/vslam/ORB_SLAM2/src/Tracking.cc:1544:5: error: ‘mlFrameTimes’ was not declared in this scope
1544 | mlFrameTimes.clear();
| ^~~~~~~~~~~~
/home/lee22/vslam/ORB_SLAM2/src/Tracking.cc:1545:5: error: ‘mlbLost’ was not declared in this scope
1545 | mlbLost.clear();
| ^~~~~~~
make[2]: *** [CMakeFiles/ORB_SLAM2.dir/build.make:76：CMakeFiles/ORB_SLAM2.dir/src/System.cc.o] 错误 1
make[2]: *** 正在等待未完成的任务....
make[2]: *** [CMakeFiles/ORB_SLAM2.dir/build.make:90：CMakeFiles/ORB_SLAM2.dir/src/Tracking.cc.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:95：CMakeFiles/ORB_SLAM2.dir/all] 错误 2
make: *** [Makefile:91：all] 错误 2