diff --git a/src/processor/processor_imu_3d.cpp b/src/processor/processor_imu_3d.cpp
index 82ac9bd25235aaed5296de5d18552770911f3916..72a4840eebd23509d4202a9dcc01942f1a94321c 100644
--- a/src/processor/processor_imu_3d.cpp
+++ b/src/processor/processor_imu_3d.cpp
@@ -100,13 +100,13 @@ bool ProcessorImu3d::voteForKeyFrame() const
     return false;
 }
 
-CaptureMotionPtr ProcessorImu3d::emplaceCapture(const FrameBasePtr   &_frame_own,
-                                                const SensorBasePtr  &_sensor,
-                                                const TimeStamp      &_ts,
-                                                const VectorXd       &_data,
-                                                const MatrixXd       &_data_cov,
-                                                const VectorXd       &_calib,
-                                                const VectorXd       &_calib_preint,
+CaptureMotionPtr ProcessorImu3d::emplaceCapture(const FrameBasePtr &  _frame_own,
+                                                const SensorBasePtr & _sensor,
+                                                const TimeStamp &     _ts,
+                                                const VectorXd &      _data,
+                                                const MatrixXd &      _data_cov,
+                                                const VectorXd &      _calib,
+                                                const VectorXd &      _calib_preint,
                                                 const CaptureBasePtr &_capture_origin)
 {
     auto cap_motion = std::static_pointer_cast<CaptureMotion>(
@@ -178,9 +178,9 @@ void ProcessorImu3d::computeCurrentDelta(const Eigen::VectorXd &_data,
                                          const Eigen::MatrixXd &_data_cov,
                                          const Eigen::VectorXd &_calib,
                                          const double           _dt,
-                                         Eigen::VectorXd       &_delta,
-                                         Eigen::MatrixXd       &_delta_cov,
-                                         Eigen::MatrixXd       &_jac_delta_calib) const
+                                         Eigen::VectorXd &      _delta,
+                                         Eigen::MatrixXd &      _delta_cov,
+                                         Eigen::MatrixXd &      _jac_delta_calib) const
 {
     assert(_data.size() == data_size_ && "Wrong data size!");
 
@@ -219,7 +219,7 @@ void ProcessorImu3d::computeCurrentDelta(const Eigen::VectorXd &_data,
 void ProcessorImu3d::deltaPlusDelta(const Eigen::VectorXd &_delta_preint,
                                     const Eigen::VectorXd &_delta,
                                     const double           _dt,
-                                    Eigen::VectorXd       &_delta_preint_plus_delta) const
+                                    Eigen::VectorXd &      _delta_preint_plus_delta) const
 {
     /* MATHS according to Sola-16
      * Dp' = Dp + Dv*dt + 1/2*Dq*(a-a_b)*dt^2    = Dp + Dv*dt + Dq*dp   if  dp =
@@ -236,7 +236,7 @@ void ProcessorImu3d::deltaPlusDelta(const Eigen::VectorXd &_delta_preint,
 void ProcessorImu3d::statePlusDelta(const VectorComposite &_x,
                                     const Eigen::VectorXd &_delta,
                                     const double           _dt,
-                                    VectorComposite       &_x_plus_delta) const
+                                    VectorComposite &      _x_plus_delta) const
 {
     assert(_delta.size() == 10 && "Wrong _delta vector size");
     assert(_dt >= 0 && "Time interval _dt is negative!");
@@ -256,9 +256,9 @@ void ProcessorImu3d::statePlusDelta(const VectorComposite &_x,
 void ProcessorImu3d::deltaPlusDelta(const Eigen::VectorXd &_delta_preint,
                                     const Eigen::VectorXd &_delta,
                                     const double           _dt,
-                                    Eigen::VectorXd       &_delta_preint_plus_delta,
-                                    Eigen::MatrixXd       &_jacobian_delta_preint,
-                                    Eigen::MatrixXd       &_jacobian_delta) const
+                                    Eigen::VectorXd &      _delta_preint_plus_delta,
+                                    Eigen::MatrixXd &      _jacobian_delta_preint,
+                                    Eigen::MatrixXd &      _jacobian_delta) const
 {
     /*
      * Expression of the delta integration step, D' = D (+) d:
@@ -391,7 +391,8 @@ void ProcessorImu3d::bootstrap()
                 bias_init.tail<3>() = last_ptr_->getBuffer().back().data_.tail<3>();
                 // Acc bias is not observable, computing a warm start
                 // Bias that provide exactly 'g' at the estimated orientation
-                bias_init.head<3>() = Vector3d::Zero(); // last_ptr_->getBuffer().back().data_.head<3>() - q_w_l * g_w;
+                bias_init.head<3>() =
+                    Vector3d::Zero();  // last_ptr_->getBuffer().back().data_.head<3>() - q_w_l * g_w;
                 WOLF_DEBUG("////////////////////////////////////////////////////");
                 WOLF_DEBUG("q_l_s: ", q_l_s.coeffs().transpose());
                 WOLF_DEBUG("g_l: ", g_l.transpose());
@@ -560,8 +561,8 @@ bool ProcessorImu3d::recomputeStates() const
                 const auto &cap_origin = cap->getOriginCapture();
                 const auto &frm_origin = cap_origin->getFrame();
                 const auto &delta      = VectorComposite({{'P', ftr->getMeasurement().head<3>()},
-                                                          {'O', ftr->getMeasurement().segment<4>(3)},
-                                                          {'V', ftr->getMeasurement().tail<3>()}});
+                                                     {'O', ftr->getMeasurement().segment<4>(3)},
+                                                     {'V', ftr->getMeasurement().tail<3>()}});
                 const auto &x_origin   = frm_origin->getState();
                 auto        dt         = cap->getTimeStamp() - cap_origin->getTimeStamp();
                 auto        x          = imu::composeOverState(x_origin, delta, dt);