terminate called after throwing an instance of 'cv::Exception'

` ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza. ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza. This program comes with ABSOLUTELY NO WARRANTY; This is free software, and you are welcome to redistribute it under certain conditions. See LICENSE.txt.

Input sensor was set to: Stereo

Loading ORB Vocabulary. This could take a while... Vocabulary loaded!

Creation of new map with id: 0 Creation of new map with last KF id: 0 Seq. Name:

Camera Parameters:

Camera: Pinhole
fx: 653.071
fy: 653.071
cx: 661.736
cy: 366.981
k1: 0
k2: 0
p1: 0
p2: 0
fps: 20
color order: BGR (ignored if grayscale)

Depth Threshold (Close/Far Points): 4.2

ORB Extractor Parameters:

Number of Features: 1200
Scale Levels: 8
Scale Factor: 1.2
Initial Fast Threshold: 20
Minimum Fast Threshold: 7 First KF:0; Map init KF:0 New Map created with 404 points TRACK_REF_KF: Less than 15 matches!! Fail to track local map! Creation of new map with id: 1 Exits current map Saved map with ID: 0 Creation of new map with last KF id: 7 First KF:7; Map init KF:7 New Map created with 96 points Fail to track local map! Fail to track local map! LM: Active map reset recieved LM: Active map reset, waiting... LM: Reseting current map in Local Mapping... LM: End reseting Local Mapping... LM: Reset free the mutex LM: Active map reset, Done!!! mnFirstFrameId = 0 mnInitialFrameId = 252 2 Frames set to lost First KF:8; Map init KF:7 New Map created with 73 points Fail to track local map! Fail to track local map! LM: Active map reset recieved LM: Active map reset, waiting... LM: Reseting current map in Local Mapping... LM: End reseting Local Mapping... LM: Reset free the mutex LM: Active map reset, Done!!! mnFirstFrameId = 0 mnInitialFrameId = 259 0 Frames set to lost First KF:9; Map init KF:8 New Map created with 340 points TRACK_REF_KF: Less than 15 matches!! Fail to track local map! LM: Active map reset recieved LM: Active map reset, waiting... LM: Reseting current map in Local Mapping... LM: End reseting Local Mapping... LM: Reset free the mutex LM: Active map reset, Done!!! mnFirstFrameId = 0 mnInitialFrameId = 463 0 Frames set to lost First KF:11; Map init KF:9 New Map created with 185 points Fail to track local map! Fail to track local map! LM: Active map reset recieved LM: Active map reset, waiting... LM: Reseting current map in Local Mapping... LM: End reseting Local Mapping... LM: Reset free the mutex LM: Active map reset, Done!!! mnFirstFrameId = 0 mnInitialFrameId = 489 0 Frames set to lost First KF:15; Map init KF:11 New Map created with 50 points TRACK_REF_KF: Less than 15 matches!! Fail to track local map! LM: Active map reset recieved LM: Active map reset, waiting... LM: Reseting current map in Local Mapping... LM: End reseting Local Mapping... LM: Reset free the mutex LM: Active map reset, Done!!! mnFirstFrameId = 0 mnInitialFrameId = 537 0 Frames set to lost First KF:16; Map init KF:15 New Map created with 320 points Fail to track local map! Fail to track local map! LM: Active map reset recieved LM: Active map reset, waiting... LM: Reseting current map in Local Mapping... LM: End reseting Local Mapping... LM: Reset free the mutex LM: Active map reset, Done!!! mnFirstFrameId = 0 mnInitialFrameId = 559 0 Frames set to lost First KF:19; Map init KF:16 New Map created with 73 points Fail to track local map! Relocalized!! TRACK_REF_KF: Less than 15 matches!! Fail to track local map! Creation of new map with id: 2 Exits current map Saved map with ID: 1 Creation of new map with last KF id: 27 terminate called after throwing an instance of 'cv::Exception' what(): OpenCV(4.5.2) /home/xiefei/package/opencv-4.5.2/modules/core/src/lapack.cpp:851: error: (-215:Assertion failed) type == CV_32F || type == CV_64F in function 'invert' `

[1] 16951 abort (core dumped) rosrun orbslam3 mynteye_orbslam false I run the stereo slam on my own camera.It can work ,but when lose the localization and need to be relocalize,it will randomly happen.

UZ-SLAMLab / ORB_SLAM3

terminate called after throwing an instance of 'cv::Exception' #421