From feb0fe6bd186ade762341f8f099f9746c3644b7e Mon Sep 17 00:00:00 2001
From: koide3 <31344317+koide3@users.noreply.github.com>
Date: Tue, 26 Nov 2024 09:54:43 +0900
Subject: [PATCH] fix imu_cursor (#119)

---
 src/glim/odometry/loose_initial_state_estimation.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/glim/odometry/loose_initial_state_estimation.cpp b/src/glim/odometry/loose_initial_state_estimation.cpp
index 32ae2e27..f266badc 100644
--- 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();
   }