hotfix: bias preintegration propagation from origin and not last capture

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()) ) ;