From 5c285ef51b2536efb66c88d232768af15e087118 Mon Sep 17 00:00:00 2001
From: IgorIlyin95 <ilyinigor94@gmail.com>
Date: Thu, 1 May 2025 12:11:52 +0100
Subject: [PATCH] Fix NormalizeRotation usage

---
 src/G2oTypes.cc | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/G2oTypes.cc b/src/G2oTypes.cc
index 7c1f3496fcb..528fe0f142a 100644
--- a/src/G2oTypes.cc
+++ b/src/G2oTypes.cc
@@ -203,7 +203,7 @@ void ImuCamPose::Update(const double *pu)
     its++;
     if(its>=3)
     {
-        NormalizeRotation(Rwb);
+        Rwb = NormalizeRotation(Rwb);
         its=0;
     }
 
@@ -240,7 +240,7 @@ void ImuCamPose::UpdateW(const double *pu)
         DR(1,2) = 0.0;
         DR(2,0) = 0.0;
         DR(2,1) = 0.0;
-        NormalizeRotation(DR);
+        DR = NormalizeRotation(DR);
         its = 0;
     }