Thanks for the V1.0 version and the updated functions.
I am running the V1.0 version with stereo-inertial on my own sensor and the SO3 exp failed to pass the SO3 check in the GetDeltaRotation method called by function EdgeInertial::computeError.
The message goes like:

 SO3::exp failed! omega: nan nan nan, real: nan, img: nan.

I wonder if there is anyone who met the same problem, thanks~