diff --git a/src/processor/processor_imu.cpp b/src/processor/processor_imu.cpp index 87582d9746f745d96805fda31f47d8755d04f524..11fc86b1d5f016d0f4021392c0cae1b309ef67c5 100644 --- a/src/processor/processor_imu.cpp +++ b/src/processor/processor_imu.cpp @@ -282,7 +282,7 @@ void ProcessorImu::bootstrap() // compute local g and transformation to global g double dt = t_current - first_capture->getTimeStamp(); // - Vector3d dv = delta_int.segment(7, 3); // + const auto& dv = delta_int.segment(7, 3); // Vector3d g_l = -((q_l_r * q_r_s) * dv / dt); // See eq. (20) const auto& g_w = gravity(); // const auto& p_w_l = Vector3d::Zero(); // will pivot around the local origin