compile error

[mabeibei0404]

../src/Solver.cpp: In member function ‘void online_calibration::Solver::iSAM_print_stats(int)’:
../src/Solver.cpp:933:22: warning: suggest parentheses around ‘&&’ within ‘||’ [-Wparentheses]
if(frame > 0 && frame % ba_every == 0 || frame == num_frames-1) {
~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~
In file included from /usr/include/eigen3/Eigen/Core:347:0,
from /usr/include/eigen3/Eigen/StdVector:14,
from /usr/include/pcl-1.8/pcl/point_cloud.h:46,
from /usr/include/pcl-1.8/pcl/io/pcd_io.h:43,
from ../include/Tools.h:18,
from ../include/Viewer.h:4,
from ../src/Viewer.cpp:1:
/usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h: In instantiation of ‘void Eigen::PlainObjectBase::_init2(Eigen::Index, Eigen::Index, typename Eigen::internal::enable_if<(typename Eigen::internal::dense_xpr_base::type:: SizeAtCompileTime != 2), T0>::type*) [with T0 = double; T1 = double; Derived = Eigen::Matrix<double, 3, 1>; Eigen::Index = long int; typename Eigen::internal::enable_if<(typename Eigen::internal::dense_xpr_base::type:: SizeAtCompileTime != 2), T0>::type = double]’:
/usr/include/eigen3/Eigen/src/Core/Matrix.h:304:35: required from ‘Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::Matrix(const T0&, const T1&) [with T0 = double; T1 = double; _Scalar = double; int _Rows = 3; int _Cols = 1; int _Options = 0; int _MaxRows = 3; int _MaxCols = 1]’
/usr/local/include/isam/slam_monocular.h:57:29: required from here
/usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:736:7: error: static assertion failed: FLOATING_POINT_ARGUMENT_PASSED__INTEGER_WAS_EXPECTED
EIGEN_STATIC_ASSERT(bool(NumTraits::IsInteger) &&
^
In file included from /usr/include/eigen3/Eigen/Core:347:0,
from /usr/include/eigen3/Eigen/StdVector:14,
from /usr/include/pcl-1.8/pcl/point_cloud.h:46,
from /usr/include/pcl-1.8/pcl/io/pcd_io.h:43,
from ../include/Tools.h:18,
from ../include/Tracking.h:4,
from ../include/System.h:4,
from ../src/System.cpp:1:
/usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h: In instantiation of ‘void Eigen::PlainObjectBase::_init2(Eigen::Index, Eigen::Index, typename Eigen::internal::enable_if<(typename Eigen::internal::dense_xpr_base::type:: SizeAtCompileTime != 2), T0>::type*) [with T0 = double; T1 = double; Derived = Eigen::Matrix<double, 3, 1>; Eigen::Index = long int; typename Eigen::internal::enable_if<(typename Eigen::internal::dense_xpr_base::type:: SizeAtCompileTime != 2), T0>::type = double]’:
/usr/include/eigen3/Eigen/src/Core/Matrix.h:304:35: required from ‘Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::Matrix(const T0&, const T1&) [with T0 = double; T1 = double; _Scalar = double; int _Rows = 3; int _Cols = 1; int _Options = 0; int _MaxRows = 3; int _MaxCols = 1]’
/usr/local/include/isam/slam_monocular.h:57:29: required from here
/usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:736:7: error: static assertion failed: FLOATING_POINT_ARGUMENT_PASSED__INTEGER_WAS_EXPECTED
EIGEN_STATIC_ASSERT(bool(NumTraits::IsInteger) &&
^
In file included from /usr/include/eigen3/Eigen/Core:347:0,
from /usr/include/eigen3/Eigen/StdVector:14,
from /usr/include/pcl-1.8/pcl/point_cloud.h:46,
from /usr/include/pcl-1.8/pcl/io/pcd_io.h:43,
from ../include/Tools.h:18,
from ../include/Solver.h:4,
from ../src/Solver.cpp:1:
/usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h: In instantiation of ‘void Eigen::PlainObjectBase::_init2(Eigen::Index, Eigen::Index, typename Eigen::internal::enable_if<(typename Eigen::internal::dense_xpr_base::type:: SizeAtCompileTime != 2), T0>::type*) [with T0 = double; T1 = double; Derived = Eigen::Matrix<double, 3, 1>; Eigen::Index = long int; typename Eigen::internal::enable_if<(typename Eigen::internal::dense_xpr_base::type:: SizeAtCompileTime != 2), T0>::type = double]’:
/usr/include/eigen3/Eigen/src/Core/Matrix.h:304:35: required from ‘Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::Matrix(const T0&, const T1&) [with T0 = double; T1 = double; _Scalar = double; int _Rows = 3; int _Cols = 1; int _Options = 0; int _MaxRows = 3; int _MaxCols = 1]’
/usr/local/include/isam/slam_monocular.h:57:29: required from here
/usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:736:7: error: static assertion failed: FLOATING_POINT_ARGUMENT_PASSED__INTEGER_WAS_EXPECTED
EIGEN_STATIC_ASSERT(bool(NumTraits::IsInteger) &&
^