“argument to variable-length array may be too large [-Wvla-larger-than=]” warning

I use gcc-9 from CentOS:

$ /opt/rh/devtoolset-9/root/usr/bin/gcc --version
gcc (GCC) 9.3.1 20200408 (Red Hat 9.3.1-2)
Copyright (C) 2019 Free Software Foundation, Inc.
This is free software; see the source for copying conditions.  There is NO
warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.

And I found if using -O3 compile option, for some Variable-length array in C programming language, gcc will report following warning:

warning: argument to variable-length array may be too large [-Wvla-larger-than=]
  596 |  uint8_t header[header_size];
      |          ^~~~~~~~~~~~~~~~~~

If not using -O3 option, the warning won’t be generated.