diff --git a/src/processor/processor_motion.cpp b/src/processor/processor_motion.cpp
index 98648ec046d80b0e965b07c3454798aa356a8698..c26e311f3a32574e2f87cfc47c558c39bd56f006 100644
--- a/src/processor/processor_motion.cpp
+++ b/src/processor/processor_motion.cpp
@@ -611,7 +611,7 @@ void ProcessorMotion::integrateOneStep()
                    jacobian_delta_);
 
     // integrate Jacobian wrt calib
-    if ( hasCalibration() )
+    if ( hasCalibration() ) // if no calibration, matrices can have mismatching sizes, and this computation is nevertheless pointless
     {
         jacobian_calib_.noalias()
             = jacobian_delta_preint_ * getBuffer().back().jacobian_calib_
@@ -625,15 +625,15 @@ void ProcessorMotion::integrateOneStep()
 
     // push all into buffer
     getBuffer().emplace_back(incoming_ptr_->getTimeStamp(),
-                                   incoming_ptr_->getData(),
-                                   incoming_ptr_->getDataCovariance(),
-                                   delta_,
-                                   delta_cov_,
-                                   delta_integrated_,
-                                   delta_integrated_cov_,
-                                   jacobian_delta_,
-                                   jacobian_delta_preint_,
-                                   jacobian_calib_);
+                             incoming_ptr_->getData(),
+                             incoming_ptr_->getDataCovariance(),
+                             delta_,
+                             delta_cov_,
+                             delta_integrated_,
+                             delta_integrated_cov_,
+                             jacobian_delta_,
+                             jacobian_delta_preint_,
+                             jacobian_calib_);
 }
 
 void ProcessorMotion::reintegrateBuffer(CaptureMotionPtr _capture_ptr)