跑MARS Dataset时无人机一起飞终端就会报红挂掉 about fast-livo HOT 3 CLOSED

[ VIO ]: Add 0 3D points.
[ VIO ]: time: addFromSparseMap: 0.000011 addSparseMap: 0.000055 ComputeJ: 0.000004 addObservation: 0.000002 total time: 0.000072 ave_total: 0.000072.
[ LIO ]: Raw feature num: 11893 downsamp num 10911 Map num: 10964.
[ LIO ]: Using multi-processor, used core number: 4.
[New Thread 0x7fff923f8700 (LWP 18464)]
[New Thread 0x7fff91bf7700 (LWP 18465)]
[New Thread 0x7fff913f6700 (LWP 18466)]
[ LIO ]: time: fov_check: 0.000000 fov_check and readd: 0.002638 match: 0.000000 solve: 0.000000  ICP: 0.001149  map incre: 0.031386 total: 0.035173 icp: 0.000780 construct H: 0.000000.
[ INFO ]: get point cloud at time: 1658137064.324880.
[ VIO ]: Raw feature num: 11893.
[ VIO ]: Add 1761 3D points.
[ VIO ]: time: addFromSparseMap: 0.000001 addSparseMap: 0.006574 ComputeJ: 0.000000 addObservation: 0.000000 total time: 0.006576 ave_total: 0.006576.
[ INFO ]: get img at time: 1658137064.440385.
[ LIO ]: Raw feature num: 11898 downsamp num 10905 Map num: 17091.
[ LIO ]: Using multi-processor, used core number: 4.
[ LIO ]: time: fov_check: 0.000000 fov_check and readd: 0.002378 match: 0.000000 solve: 0.000000  ICP: 0.002737  map incre: 0.020595 total: 0.030441 icp: 0.001689 construct H: 0.000000.
[ INFO ]: get img at time: 1658137064.540787.
[ INFO ]: get point cloud at time: 1658137064.424726.
[ VIO ]: Raw feature num: 11898.

Thread 1 "fastlivo_mappin" received signal SIGSEGV, Segmentation fault.
0x00007ffff32a6088 in lidar_selection::LidarSelector::addFromSparseMap (
    this=this@entry=0x55555c87d3c0, img=..., pg=...)
    at /home/maxi/FASTLIVO_ws/src/FAST-LIVO/src/lidar_selection.cpp:376
376         float it[height*width] = {0.0};
(gdb)