diff --git a/src/processor/processor_motion.cpp b/src/processor/processor_motion.cpp index d18ae7c312f4e19a98ed1ae9522b2b06aad2fd41..0ed2f43878b55a39b6d2aa98dfaeeb991dad05f1 100644 --- a/src/processor/processor_motion.cpp +++ b/src/processor/processor_motion.cpp @@ -439,8 +439,8 @@ void ProcessorMotion::processCapture(CaptureBasePtr _incoming_ptr) key_frame->getTimeStamp(), Eigen::VectorXd::Zero(data_size_), getSensor()->getNoiseCov(), - getCalibration(last_ptr_), - getCalibration(last_ptr_), + getCalibration(origin_ptr_), + getCalibration(origin_ptr_), last_ptr_); // reset the new buffer capture_new->getBuffer().push_back( motionZero(key_frame->getTimeStamp()) ) ;