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issues of
Powei Lin
```rust use nalgebra as na; fn main() { let q = na::UnitQuaternion::from_quaternion(na::Quaternion::new(0.2, 0.3, 0.4, 0.5)); println!("q len {}", q.norm()); let mut a = q.clone(); for _ in 0..50{ a *=...
https://github.com/JakobEngel/dso/blob/7b0c99f01d238f801c625beaff90240bcb007198/src/FullSystem/CoarseInitializer.cpp#L502-L519 I guess there's a typo here because `EAlpha` is not doing anything here.