can not understand the formula ”diff_vins_lio_q“

[chenxianbo]

 diff_vins_lio_q = eigen_q(estimator.Rs[WINDOW_SIZE].transpose() * state_aft_integration.rot_end);
 diff_vins_lio_t = state_aft_integration.pos_end - estimator.Ps[WINDOW_SIZE];

int Estimator::refine_vio_system(eigen_q q_extrinsic, vec_3 t_extrinsic)
{
    Eigen::Matrix<double, 3, 3> R_mat_e = q_extrinsic.toRotationMatrix();
    for (int win_idx = 0; win_idx <= WINDOW_SIZE; win_idx++)
    {
        Rs[win_idx] = Rs[win_idx] * R_mat_e;
        Ps[win_idx] = Ps[win_idx] + t_extrinsic;
        Vs[win_idx] = R_mat_e * Vs[win_idx];
    }

    for (int win_idx = 0; win_idx <= WINDOW_SIZE; win_idx++)
    {
        pre_integrations[win_idx]->delta_p = R_mat_e * pre_integrations[win_idx]->delta_p;
    }
}

what is the formula for diff_vins_lio_q？I can not undestand it‘s meaning

And I found vins often reboot when run function “refine_vio_system” with my dataset， it shows big angle for fail

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