Resolve "getCalibration() --> getIntrinsics()"

Closes #384 (closed)

include/core/processor/processor_diff_drive.h

@@ -60,7 +60,7 @@ class ProcessorDiffDrive : public ProcessorOdom2d
         FeatureBasePtr emplaceFeature(CaptureMotionPtr _capture_own) override;
         FactorBasePtr emplaceFactor(FeatureBasePtr _feature_motion,
                                             CaptureBasePtr _capture_origin) override;
-        VectorXd getCalibration (const CaptureBasePtr _capture) const override;
+        VectorXd getCalibration (const CaptureBasePtr _capture = nullptr) const override;
         void setCalibration(const CaptureBasePtr _capture, const VectorXd& _calibration) override;
 
     protected:
@@ -71,7 +71,10 @@ class ProcessorDiffDrive : public ProcessorOdom2d
 
 inline Eigen::VectorXd ProcessorDiffDrive::getCalibration (const CaptureBasePtr _capture) const
 {
-    return _capture->getStateBlock('I')->getState();
+    if (_capture)
+        return _capture->getStateBlock('I')->getState();
+    else
+        return getSensor()->getStateBlockDynamic('I')->getState();
 }
 
 inline void ProcessorDiffDrive::setCalibration (const CaptureBasePtr _capture, const VectorXd& _calibration)