Hi， when I make the code, there is errors,

[tust13018211]

/home/liujiang/Code/LARVIO/src/StaticInitializer.cpp: In member function ‘bool larvio::StaticInitializer::tryIncInit(const std::vectorlarvio::ImuData&, larvio::MonoCameraMeasurementPtr)’:
/home/liujiang/Code/LARVIO/src/StaticInitializer.cpp:20:22: error: ISO C++ forbids declaration of ‘feature’ with no type [-fpermissive]
for (const auto& feature : img_msg->features)
^
/home/liujiang/Code/LARVIO/src/StaticInitializer.cpp:20:32: warning: range-based ‘for’ loops only available with -std=c++11 or -std=gnu++11
for (const auto& feature : img_msg->features)
^
/home/liujiang/Code/LARVIO/src/StaticInitializer.cpp:21:29: error: request for member ‘id’ in ‘feature’, which is of non-class type ‘const int’
init_features[feature.id] = Vector2d(feature.u, feature.v);
^
/home/liujiang/Code/LARVIO/src/StaticInitializer.cpp:21:52: error: request for member ‘u’ in ‘feature’, which is of non-class type ‘const int’
init_features[feature.id] = Vector2d(feature.u, feature.v);
^
/home/liujiang/Code/LARVIO/src/StaticInitializer.cpp:21:63: error: request for member ‘v’ in ‘feature’, which is of non-class type ‘const int’
init_features[feature.id] = Vector2d(feature.u, feature.v);
^
/home/liujiang/Code/LARVIO/src/StaticInitializer.cpp:30:20: error: ISO C++ forbids declaration of ‘feature’ with no type [-fpermissive]
for (const auto& feature : img_msg->features) {
^
/home/liujiang/Code/LARVIO/src/StaticInitializer.cpp:30:30: warning: range-based ‘for’ loops only available with -std=c++11 or -std=gnu++11
for (const auto& feature : img_msg->features) {
^
/home/liujiang/Code/LARVIO/src/StaticInitializer.cpp:31:27: error: request for member ‘id’ in ‘feature’, which is of non-class type ‘const int’
curr_features[feature.id] = Vector2d(feature.u, feature.v);
^
/home/liujiang/Code/LARVIO/src/StaticInitializer.cpp:31:50: error: request for member ‘u’ in ‘feature’, which is of non-class type ‘const int’
curr_features[feature.id] = Vector2d(feature.u, feature.v);
^
/home/liujiang/Code/LARVIO/src/StaticInitializer.cpp:31:61: error: request for member ‘v’ in ‘feature’, which is of non-class type ‘const int’
curr_features[feature.id] = Vector2d(feature.u, feature.v);
^
/home/liujiang/Code/LARVIO/src/StaticInitializer.cpp:32:36: error: request for member ‘id’ in ‘feature’, which is of non-class type ‘const int’
if (init_features.find(feature.id) != init_features.end()) {
^
/home/liujiang/Code/LARVIO/src/StaticInitializer.cpp:33:32: error: request for member ‘u’ in ‘feature’, which is of non-class type ‘const int’
Vector2d vec2d_c(feature.u, feature.v);
^
/home/liujiang/Code/LARVIO/src/StaticInitializer.cpp:33:43: error: request for member ‘v’ in ‘feature’, which is of non-class type ‘const int’
Vector2d vec2d_c(feature.u, feature.v);
^
/home/liujiang/Code/LARVIO/src/StaticInitializer.cpp:34:48: error: request for member ‘id’ in ‘feature’, which is of non-class type ‘const int’