Not compiling for Ubuntu 20.04

[musantos]

Hello,
I am trying to test this RGB-D Odometry on ROS Noetic, but when I try to compile it fails.
The following error pops up during the compilation:

In file included from /home/usr/Documents/new_workspace2/src/rgbd_odom/src/rgbdodom.hpp:42, from /home/usr/Documents/new_workspace2/src/rgbd_odom/src/rgbd_odom_node.cpp:2: /home/usr/Documents/new_workspace2/src/rgbd_odom/src/robustmatcher.hpp: In member function ‘cv::Mat RobustMatcher::ransacTest(const std::vector<cv::DMatch>&, const std::vector<cv::KeyPoint>&, const std::vector<cv::KeyPoint>&, std::vector<cv::DMatch>&)’: /home/usr/Documents/new_workspace2/src/rgbd_odom/src/robustmatcher.hpp:191:53: error: ‘CV_FM_RANSAC’ was not declared in this scope 191 | CV_FM_RANSAC, distance_, confidence_); | ^~~~~~~~~~~~ /home/usr/Documents/new_workspace2/src/rgbd_odom/src/robustmatcher.hpp:230:84: error: ‘CV_FM_8POINT’ was not declared in this scope 230 | fundamental= cv::findFundamentalMat(cv::Mat(points1),cv::Mat(points2), CV_FM_8POINT); | ^~~~~~~~~~~~ In file included from /home/usr/Documents/new_workspace2/src/rgbd_odom/src/rgbdodom.hpp:43, from /home/usr/Documents/new_workspace2/src/rgbd_odom/src/rgbd_odom_node.cpp:2: /home/usr/Documents/new_workspace2/src/nonlinear_optimization/cvsba/include/cvsba/cvsba.h: At global scope: /home/usr/Documents/new_workspace2/src/nonlinear_optimization/cvsba/include/cvsba/cvsba.h:91:24: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated] 91 | ) throw ( cv::Exception ); | ^~~~~ /home/usr/Documents/new_workspace2/src/nonlinear_optimization/cvsba/include/cvsba/cvsba.h:103:23: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated] 103 | ) throw ( cv::Exception ); | ^~~~~ In file included from /home/usr/Documents/new_workspace2/src/rgbd_odom/src/rgbd_odom_node.cpp:2: /home/usr/Documents/new_workspace2/src/rgbd_odom/src/rgbdodom.hpp: In member function ‘bool RgbdOdom::leftPnP(std::vector<cv::Point3_<float> >&, std::vector<cv::Point_<float> >&, tf::Transform&)’: /home/usr/Documents/new_workspace2/src/rgbd_odom/src/rgbdodom.hpp:435:97: error: ‘CV_EPNP’ was not declared in this scope 435 | cv::solvePnPRansac(points3d, projections, K_, cv::Mat(), r, T, false, 150, 2, 0.99, inliers, CV_EPNP); //OpenCV3 | ^~~~~~~ make[2]: *** [rgbd_odom/CMakeFiles/rgbd_odom_node.dir/build.make:63: rgbd_odom/CMakeFiles/rgbd_odom_node.dir/src/rgbd_odom_node.cpp.o] Error 1 make[1]: *** [CMakeFiles/Makefile2:3555: rgbd_odom/CMakeFiles/rgbd_odom_node.dir/all] Error 2