diff --git a/include/imu/processor/processor_imu.h b/include/imu/processor/processor_imu.h
index 3166c09bb536e8a4fa0cdb1c8a91f400f718b50d..d82a0afe492f938558eb28c53da70a65fb515b3f 100644
--- a/include/imu/processor/processor_imu.h
+++ b/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,
diff --git a/src/processor/processor_imu.cpp b/src/processor/processor_imu.cpp
index bf1fe72b6241c7b66dca58738d4fe168903c8773..6eb0edced109dec6bc58e2bb3e9a400805c49730 100644
--- a/src/processor/processor_imu.cpp
+++ b/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)
diff --git a/test/gtest_factor_imu.cpp b/test/gtest_factor_imu.cpp
index f53f9af38ff6da00ba0f57d815d4b3a336267e9e..c22ac6eafd00cb4c0cf480f70ffa64c0c8a88676 100644
--- a/test/gtest_factor_imu.cpp
+++ b/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);