Runtime error : Segmentation fault (core dumped)

[lqql2012]

Hello,Thank you for your great work!
When I run the project with Rosbag Example .It runs normally at first, But a Segmentation fault occurs after a few minutes.
The following is the log print information，But I can't find out what went wrong. looking forward to your reply !

Camvox Copyright (C) 2020 ISEE, University of SUSTech.
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: RGB-D

Loading ORB Vocabulary. This could take a while...
Vocabulary loaded in 0.31s

Camera Parameters:

• fx: 957.994
• fy: 955.328
• cx: 790.335
• cy: 250.663
• k1: -0.12
• k2: 0.1162
• p1: 0
• p2: 0
• fps: 10
• color order: RGB (ignored if grayscale)

ORB Extractor Parameters:

• Number of Features: 1500
• Scale Levels: 8
• Scale Factor: 1.2
• Initial Fast Threshold: 20
• Minimum Fast Threshold: 7

Depth Threshold (Close/Far Points): 129.998
Framebuffer with requested attributes not available. Using available framebuffer. You may see visual artifacts.Robot keep 1s still !
Robot keep 1s still !
Robot keep 1s still !
Robot keep 1s still !
Robot keep 1s still !
Calibrating processing
Robot keep 1s still !
New map created with 159 points
Calibrating processing
cancel calibration !
Calibrating RELEASE
[pcl::VoxelGrid::applyFilter] Leaf size is too small for the input dataset. Integer indices would overflow.After spin:

Saving keyframe trajectory to OnlineKeyFrameTrajectory.txt ...

trajectory saved!
Robot keep 1s still !
Dense Color Pointcloud save finished
QObject::QObject: Timers cannot be stopped from another thread
Segmentation fault (core dumped)
(base) lqql@lqql:/catkin_ws/src/CamVox/isee-camvox$ rosrun online camvox Vocabulary/ORBvoc.bin camvox/offline/Livox.yaml 1000

Camvox Copyright (C) 2020 ISEE, University of SUSTech.
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: RGB-D

Loading ORB Vocabulary. This could take a while...
Vocabulary loaded in 0.33s

Camera Parameters:

• fx: 957.994
• fy: 955.328
• cx: 790.335
• cy: 250.663
• k1: -0.12
• k2: 0.1162
• p1: 0
• p2: 0
• fps: 10
• color order: RGB (ignored if grayscale)

ORB Extractor Parameters:

• Number of Features: 1500
• Scale Levels: 8
• Scale Factor: 1.2
• Initial Fast Threshold: 20
• Minimum Fast Threshold: 7

Depth Threshold (Close/Far Points): 129.998
Framebuffer with requested attributes not available. Using available framebuffer. You may see visual artifacts.New map created with 133 points
After spin:

Saving keyframe trajectory to OnlineKeyFrameTrajectory.txt ...

trajectory saved!
Robot keep 1s still !
Dense Color Pointcloud save finished
QObject::QObject: Timers cannot be stopped from another thread
Segmentation fault (core dumped)
(base) lqql@lqql:/catkin_ws/src/CamVox/isee-camvox$ rosrun online camvox Vocabulary/ORBvoc.bin camvox/offline/Livox.yaml 1000

Camvox Copyright (C) 2020 ISEE, University of SUSTech.
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: RGB-D

Loading ORB Vocabulary. This could take a while...
Vocabulary loaded in 0.32s

Camera Parameters:

• fx: 957.994
• fy: 955.328
• cx: 790.335
• cy: 250.663
• k1: -0.12
• k2: 0.1162
• p1: 0
• p2: 0
• fps: 10
• color order: RGB (ignored if grayscale)

ORB Extractor Parameters:

• Number of Features: 1500
• Scale Levels: 8
• Scale Factor: 1.2
• Initial Fast Threshold: 20
• Minimum Fast Threshold: 7

Depth Threshold (Close/Far Points): 129.998
Framebuffer with requested attributes not available. Using available framebuffer. You may see visual artifacts.New map created with 87 points
Track lost soon after initialisation, reseting...
System Reseting
Reseting Local Mapper... done
Reseting Loop Closing... done
Reseting Database... done
New map created with 105 points
Track lost soon after initialisation, reseting...
System Reseting
Reseting Local Mapper... done
Reseting Loop Closing... done
Reseting Database... done
New map created with 87 points
Track lost soon after initialisation, reseting...
System Reseting
Reseting Local Mapper... done
Reseting Loop Closing... done
Reseting Database... done
New map created with 86 points
Track lost soon after initialisation, reseting...
System Reseting
Reseting Local Mapper... done
Reseting Loop Closing... done
Reseting Database... done
New map created with 79 points
Track lost soon after initialisation, reseting...
System Reseting
Reseting Local Mapper... done
Reseting Loop Closing... done
Reseting Database... done
New map created with 89 points
[pcl::VoxelGrid::applyFilter] Leaf size is too small for the input dataset. Integer indices would overflow.After spin:
Robot keep 1s still !
[pcl::VoxelGrid::applyFilter] Leaf size is too small for the input dataset. Integer indices would overflow.
Saving keyframe trajectory to OnlineKeyFrameTrajectory.txt ...

trajectory saved!
Dense Color Pointcloud save finished
Segmentation fault (core dumped)