Always reture false in Estimator::failureDetection in VINS Fusion about vins-fusion HOT 1 OPEN

           ...
            mProcess.lock();
            processImage(feature.second, feature.first);
            ...

       ...
        if (failureDetection()) 
        {
            printf("failure detection! \n");
            failure_occur = 1;
            clearState();
            setParameter();
            printf("WARN : system reboot! \n");
            return;
        }
        ...

void Estimator::clearState()
{
    mProcess.lock();
    ...
}

std::recursive_mutex mProcess;