How to exactly do the imu preintegration? Currently i'm trying to run the orb_slam3 mono-inertial slam with image and imu topic being subscribed. But always thsi erros is comming;

Not preintegrated measurement
Segmentation fault (core dumped)

Is their any ros package or non ros package which can be used to do whatever this is? I'm using ubuntu 20.04 and ros noetic.