ubuntu20.04运行orb-slam3遇见核心已转储问题

在运行ros环境下的orb-slam3时出现核心已转储问题，我的ros是用鱼香ros一键安装的，自带的cv-bridge对应的是opencv4.2.0,而之前配环境时是opencv3.4.6,怀疑是这种问题。

一、卸载原有的opencv

cd build
sudo make uninstall
cd  .. 
sudo rm -r build
sudo rm -r /usr/local/include/opencv2 /usr/local/include/opencv /usr/include/opencv /usr/include/opencv2 /usr/local/share/opencv /usr/local/share/OpenCV /usr/share/opencv /usr/share/OpenCV /usr/local/bin/opencv* /usr/local/lib/libopencv*

二、安装opencv4.2.0

安装时参考opencv的官方文档（OpenCV: Installation in Linux）

2.1 从github中下载opencv4.2.0(GitHub - opencv/opencv at 4.2.0),建议使用download zip的方式，而不是git clone ,git clone容易下在成最新的opencv版本

2.2 解压后

cd ~/opencv
mkdir build
cd build

2.3 安装配置环境

[compiler] sudo apt-get install build-essential
[required] sudo apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev
[optional] sudo apt-get install python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libjasper-dev libdc1394-22-dev

2.4 用 CMake 从 Source 构建 OpenCV

cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local ..
sudo make -j8
sudo make install

2.5 配置环境

Ubuntu系统安装 OpenCV4.2.0_opencv4.2安装教程-CSDN博客参考安装就行