diff --git a/GPU_version/vio/include/vio/abstract_camera.h b/GPU_version/vio/include/vio/abstract_camera.h
index c3e5924..626bad2 100644
--- a/GPU_version/vio/include/vio/abstract_camera.h
+++ b/GPU_version/vio/include/vio/abstract_camera.h
@@ -67,7 +67,7 @@ public:
 
   inline bool isInFrame(const Vector2i &obs, int boundary, int level) const
   {
-    if(obs[0] >= boundary && obs.x() < width()/(1<<level)-boundary && obs[1] >= boundary && obs.y() <height()/(1<<level)-boundary)
+    if((int)obs[0] >= boundary && (int)obs.x() < width()/(1<<level)-boundary && (int)obs[1] >= boundary && (int)obs.y() <height()/(1<<level)-boundary)
       return true;
     return false;
   }
diff --git a/GPU_version/vio/launch/Px30.launch b/GPU_version/vio/launch/Px30.launch
index be0b22e..19ad5f0 100644
--- a/GPU_version/vio/launch/Px30.launch
+++ b/GPU_version/vio/launch/Px30.launch
@@ -1,6 +1,6 @@
 <launch>
 
-  <node pkg="vio" type="vio" name="vio" clear_params="true" output="screen" launch-prefix="xterm -e gdb --args" />
+  <!-- node pkg="vio" type="vio" name="vio" clear_params="true" output="screen" launch-prefix="xterm -e gdb args" / -->
 
     <!-- Camera topic to subscribe to -->
     <param name="vio/cam_topic" value="/CoreNode/grey_img" type="str" />
diff --git a/GPU_version/vio/src/matcher.cpp b/GPU_version/vio/src/matcher.cpp
index 117d6af..ba9d300 100644
--- a/GPU_version/vio/src/matcher.cpp
+++ b/GPU_version/vio/src/matcher.cpp
@@ -142,7 +142,7 @@ bool Matcher::findMatchDirect(
 {
   ref_ftr_= nullptr;
   if(!pt.getCloseViewObs(cur_frame.pos(), ref_ftr_))return false;
-  if(!ref_ftr_->frame->cam_->isInFrame(ref_ftr_->px.cast<int>()/(1<<ref_ftr_->level), halfpatch_size_+2, ref_ftr_->level))
+  if(!ref_ftr_->frame->cam_->isInFrame(Vector2d(ref_ftr_->px/(1<<ref_ftr_->level)).cast<int>(), halfpatch_size_+2, ref_ftr_->level))
     return false;
   if(ref_ftr_->frame->img_pyr_.empty())return false;
   if(ref_ftr_->frame->img_pyr_[ref_ftr_->level].empty())return false;
diff --git a/GPU_version/vio/src/reprojector.cpp b/GPU_version/vio/src/reprojector.cpp
index 979ab94..c8f0231 100644
--- a/GPU_version/vio/src/reprojector.cpp
+++ b/GPU_version/vio/src/reprojector.cpp
@@ -151,8 +151,7 @@ namespace vio {
             extractor->compute(it_frame.item.first->img(), keypoints_kfs, descriptors_ref);
             matcher->match(descriptors_ref, descriptors_cur, matches);
             for (auto &&f: _for(it_frame.item.first->fts_)) {
-                if (f.item->point == NULL)
-                    f.item->point = new Point(it_frame.item.first->cam_->cam2world(f.item->px.x(), f.item->px.y()),f.item);
+                if (f.item->point == NULL)f.item->point = new Point(it_frame.item.first->cam_->cam2world(f.item->px.x(), f.item->px.y()),f.item);
                 if (f.item->point->last_frame_overlap_id_ == frame->id_)continue;
                 f.item->point->last_frame_overlap_id_ = frame->id_;
                 for (auto &&match:matches) {