diff --git a/include/imu/factor/factor_fix_bias.h b/include/imu/factor/factor_fix_bias.h
index 85a30d524d57efeda7f5704d4f708e074ac27db1..788a81abe741607f9e4a5b41bff9776843677ebe 100644
--- a/include/imu/factor/factor_fix_bias.h
+++ b/include/imu/factor/factor_fix_bias.h
@@ -21,8 +21,13 @@ class FactorFixBias: public FactorAutodiff<FactorFixBias,6,3,3>
     public:
         FactorFixBias(FeatureBasePtr _ftr_ptr, bool _apply_loss_function, FactorStatus _status = FAC_ACTIVE) :
                 FactorAutodiff<FactorFixBias, 6, 3, 3>("FactorFixBias",
-                        nullptr, nullptr, nullptr, nullptr, nullptr, _apply_loss_function, _status, std::static_pointer_cast<CaptureImu>(_ftr_ptr->getCapture())->getAccBias(),
-                                          std::static_pointer_cast<CaptureImu>(_ftr_ptr->getCapture())->getGyroBias())
+                                                       _ftr_ptr,
+                                                       nullptr, nullptr, nullptr, nullptr,
+                                                       nullptr,
+                                                       _apply_loss_function,
+                                                       _status,
+                                                       std::static_pointer_cast<CaptureImu>(_ftr_ptr->getCapture())->getAccBias(),
+                                                       std::static_pointer_cast<CaptureImu>(_ftr_ptr->getCapture())->getGyroBias())
         {
             // std::cout << "created FactorFixBias " << std::endl;
         }
diff --git a/include/imu/factor/factor_imu.h b/include/imu/factor/factor_imu.h
index c9de67336fb7fb02ec8eef5b394d0d4a57589371..307aa61b868554b49fea8d0cf4cf7900b082ac4f 100644
--- a/include/imu/factor/factor_imu.h
+++ b/include/imu/factor/factor_imu.h
@@ -18,10 +18,10 @@ class FactorImu : public FactorAutodiff<FactorImu, 15, 3, 4, 3, 6, 3, 4, 3, 6>
 {
     public:
         FactorImu(const FeatureImuPtr& _ftr_ptr,
-                      const CaptureImuPtr& _capture_origin_ptr,
-                      const ProcessorBasePtr& _processor_ptr,
-                      bool _apply_loss_function,
-                      FactorStatus _status = FAC_ACTIVE);
+                  const CaptureImuPtr& _capture_origin_ptr,
+                  const ProcessorBasePtr& _processor_ptr,
+                  bool _apply_loss_function,
+                  FactorStatus _status = FAC_ACTIVE);
 
         virtual ~FactorImu() = default;
 
@@ -160,6 +160,7 @@ inline FactorImu::FactorImu(const FeatureImuPtr&    _ftr_ptr,
                             FactorStatus        _status) :
                 FactorAutodiff<FactorImu, 15, 3, 4, 3, 6, 3, 4, 3, 6>( // ...
                         "FactorImu",
+                        _ftr_ptr,
                         _cap_origin_ptr->getFrame(),
                         _cap_origin_ptr,
                         nullptr,