double free or corruption (out) [lvi_sam_mapOptmization-7] process has died [pid 467885, exit code -6, cmd /home/lho/slam_ws/devel/lib/lvi_sam/lvi_sam_mapOptmization __name:=lvi_sam_mapOptmization __log:=/home/lho/.ros/log/8d344714-13d5-11ee-85bb-ef38d9fcd78e/lvi_sam_mapOptmization-7.log]. log file: /home/lho/.ros/log/8d344714-13d5-11ee-85bb-ef38d9fcd78e/lvi_sam_mapOptmization-7*.log

[liaohaiou]

When I run the lvi_sam_mapOptmization node. I encounter double free or corruption error. Then the node crashed. The platform in Ubuntu20.04 and the ROS version is noetic. The pcl version is 1.13. And I locate the error. It seems that the error happens at performLoopClosureDetection(). If cloudKeyPoses3D is not empty, the program will crash. So is there anyone encountering similar problem?