using other constructor for FeatureIMU

src/test/gtest_feature_imu.cpp

@@ -85,9 +85,9 @@ class FeatureIMU_test : public testing::Test
     //create a feature
         delta_preint_cov = wolf_problem_ptr_->getProcessorMotionPtr()->getCurrentDeltaPreintCov();
         delta_preint = wolf_problem_ptr_->getProcessorMotionPtr()->getMotion().delta_integr_;
-        feat_imu = std::make_shared<FeatureIMU>(delta_preint, delta_preint_cov);
+        //feat_imu = std::make_shared<FeatureIMU>(delta_preint, delta_preint_cov);
         std::static_pointer_cast<wolf::ProcessorIMU>(wolf_problem_ptr_->getProcessorMotionPtr())->getJacobians(dD_db_jacobians);
-        //feat_imu = std::make_shared<FeatureIMU>(delta_preint, delta_preint_cov, dD_db_jacobians);
+        feat_imu = std::make_shared<FeatureIMU>(delta_preint, delta_preint_cov, imu_ptr, dD_db_jacobians);
         feat_imu->setCapturePtr(imu_ptr); //associate the feature to a capture
 
     }