Fix consistency in ProcessorOdom3d constructor

src/processor/processor_odom_3d.cpp

@@ -13,7 +13,11 @@ ProcessorOdom3d::ProcessorOdom3d(ParamsProcessorOdom3dPtr _params) :
                         min_disp_var_   (0.1),          // around 10cm error
                         min_rot_var_    (0.1)           // around 6 degrees error
 {
-    //
+     // Set constant parts of Jacobians
+    jacobian_delta_preint_.setIdentity(6,6);
+    jacobian_delta_.setIdentity(6,6);
+    jacobian_calib_.setZero(6,0);
+    unmeasured_perturbation_cov_ = pow(params_odom_3d_->unmeasured_perturbation_std, 2.0) * Eigen::Matrix6d::Identity();   
 }
 
 ProcessorOdom3d::~ProcessorOdom3d()