fix imu_cursor (#119)

koide3 · Nov 26, 2024 · feb0fe6 · feb0fe6
1 parent eb805d2
commit feb0fe6
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/glim/odometry/loose_initial_state_estimation.cpp b/src/glim/odometry/loose_initial_state_estimation.cpp
@@ -130,7 +130,7 @@ EstimationFrame::ConstPtr LooseInitialStateEstimation::initial_pose() {
       imu_cursor++;
     }
 
-    const Eigen::Vector3d acc_local = imu_data[i].middleRows<3>(1);
+    const Eigen::Vector3d acc_local = imu_data[imu_cursor].middleRows<3>(1);
     sum_acc_odom += (T_odom_lidar[i].second * T_lidar_imu).linear() * acc_local.normalized();
   }