Large velocity, reset IMU-preintegration

[momoistda]

Hi, thank you for the very nice work!
I meet a problem with IMU velocity. Could you please help to fix it?

Problem:
[ WARN] [1744120065.900854806, 1744108090.245259135]: Large velocity, reset IMU-preintegration!

Point cloud:

Thanks!
Cheers,
Jing