Fix ProcImu::getCalibration() to get the intrinsics

include/imu/processor/processor_imu.h

@@ -60,7 +60,7 @@ class ProcessorImu : public ProcessorMotion{
         Eigen::VectorXd deltaZero() const override;
         Eigen::VectorXd correctDelta(const Eigen::VectorXd& delta_preint,
                                              const Eigen::VectorXd& delta_step) const override;
-        VectorXd getCalibration (const CaptureBasePtr _capture) const override;
+        VectorXd getCalibration (const CaptureBasePtr _capture = nullptr) const override;
         void setCalibration(const CaptureBasePtr _capture, const VectorXd& _calibration) override;
         bool voteForKeyFrame() const override;
         CaptureMotionPtr emplaceCapture(const FrameBasePtr& _frame_own,

src/processor/processor_imu.cpp

@@ -87,9 +87,10 @@ FeatureBasePtr ProcessorImu::emplaceFeature(CaptureMotionPtr _capture_motion)
 
 VectorXd ProcessorImu::getCalibration (const CaptureBasePtr _capture) const
 {
-    assert(_capture && "called with a null capture");
-    assert(_capture->getSensorIntrinsic() && "null sensor intrinsics state block");
-    return _capture->getSensorIntrinsic()->getState();
+    if (_capture)
+        return _capture->getStateBlock('I')->getState();
+    else
+        return getSensor()->getStateBlockDynamic('I')->getState();
 }
 
 void ProcessorImu::setCalibration (const CaptureBasePtr _capture, const VectorXd& _calibration)

test/gtest_factor_imu.cpp

@@ -915,7 +915,7 @@ class FactorImu_ODOM_biasTest_Move_NonNullBiasRot : public testing::Test
         TimeStamp t_imu(0.0),    t_odo(0.0);
         double   dt_imu(0.001), dt_odo(.01);
 
-        capture_imu = std::make_shared<CaptureImu>   (t_imu, sensor_imu, data_imu, sensor_imu->getNoiseCov(), sensor_imu->getCalibration(), nullptr);
+        capture_imu = std::make_shared<CaptureImu>   (t_imu, sensor_imu, data_imu, sensor_imu->getNoiseCov(), sensor_imu->getIntrinsic()->getState(), nullptr);
 
         capture_odo = std::make_shared<CaptureOdom3d>(t_odo, sensor_odo, data_odo, sensor_odo->getNoiseCov(), nullptr);
         sensor_odo->process(capture_odo);