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                                            Neoy NING

Sophus ensure calls `abort()`

> Hard disagree: > > * NaN are _not_ UB, from my understanding it is implementation-defined (but everyone use IEEE754). > > * abort() gets in the way of debuggers,...

numerical unstable in preintegration

The "numerical unstable in preintegration" happens when computing the Jacobian of IMU preintegration. `if (jacobian_pose_i.maxCoeff() > 1e8 || jacobian_pose_i.minCoeff() < -1e8) { ROS_WARN("numerical unstable in preintegration"); } `