报错解决方案/slambook2-master/ch7/cmake-build-debug/pose_estimation_3d3d': double free or corruption (out)

运行高博14讲第7章讲代码的时候遇到如下报错：
*** Error in `/home/s/slambook2-master/ch7/cmake-build-debug/pose_estimation_3d3d’: double free or corruption (out): 0x0000000001669780 ***
具体错误如下：

*** Error in `/home/s/slambook2-master/ch7/cmake-build-debug/pose_estimation_3d3d': double free or corruption (out): 0x0000000001669780 ***
======= Backtrace: =========
/lib/x86_64-linux-gnu/libc.so.6(+0x777e5)[0x7fa034c587e5]
/lib/x86_64-linux-gnu/libc.so.6(+0x8037a)[0x7fa034c6137a]
/lib/x86_64-linux-gnu/libc.so.6(cfree+0x4c)[0x7fa034c6553c]
/usr/local/lib/libg2o_core.so(_ZN3g2o16OptimizableGraphD1Ev+0x32)[0x7fa036d5d0a2]
/home/s/slambook2-master/ch7/cmake-build-debug/pose_estimation_3d3d(_Z16bundleAdjustmentRKSt6vectorIN2cv7Point3_IfEESaIS2_EES6_RNS0_3MatES8_+0xe48)[0x411e88]
/home/s/slambook2-master/ch7/cmake-build-debug/pose_estimation_3d3d(main+0xb3e)[0x40b54e]
/lib/x86_64-linux-gnu/libc.so.6(__libc_start_main+0xf0)[0x7fa034c01830]
/home/s/slambook2-master/ch7/cmake-build-debug/pose_estimation_3d3d(_start+0x29)[0x40c489]
======= Memory map: ========
00400000-00437000 r-xp 00000000 08:02 6951389                            /home/s/slambook2-master/ch7/cmake-build-debug/pose_estimation_3d3d
00636000-00637000 r--p 00036000 08:02 6951389                            /home/s/slambook2-master/ch7/cmake-build-debug/pose_estimation_3d3d
00637000-00638000 rw-p 00037000 08:02 6951389                            /home/s/slambook2-master/ch7/cmake-build-debug/pose_estimation_3d3d
00a9a000-01904000 rw-p 00000000 00:00 0                                  [heap]
200000000-200200000 rw-s 00000000 00:06 480                              /dev/nvidiactl
200200000-200400000 ---p 00000000 00:00 0 
200400000-200600000 rw-s 00000000 00:06 480                              /dev/nvidiactl
200600000-202600000 rw-s 00000000 00:06 480                              /dev/nvidiactl
202600000-205600000 rw-s 00000000 00:06 480                              /dev/nvidiactl
205600000-205a00000 ---p 00000000 00:00 0 
205a00000-205c00000 rw-s 00000000 00:06 480                              /dev/nvidiactl
205c00000-205e00000 rw-s 00000000 00:06 480                              /dev/nvidiactl
205e00000-206000000 rw-s 205e00000 00:06 521                             /dev/nvidia-uvm
206000000-206200000 ---p 00000000 00:00 0 
206200000-206400000 rw-s 00000000 00:06 480                              /dev/nvidiactl
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7fa0354c9000-7fa0354ca000 rw-p 00108000 08:02 6427421                    /lib/x86_64-linux-gnu/libm-2.23.so
7fa0354ca000-7fa03563c000 r-xp 00000000 08:02 2885775                    /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.21
7fa03563c000-7fa03583c000 ---p 00172000 08:02 2885775                    /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.21
7fa03583c000-7fa035846000 r--p 00172000 08:02 2885775                    /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.21
7fa035846000-7fa035848000 rw-p 0017c000 08:02 2885775                    /usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.21
7fa035848000-7fa03584c000 rw-p 00000000 00:00 0 
7fa03584c000-7fa0362b7000 r-xp 00000000 08:02 2903988                    /usr/local/lib/libopencv_core.so.3.0.0
7fa0362b7000-7fa0364b6000 ---p 00a6b000 08:02 2903988                    /usr/local/lib/libopencv_core.so.3.0.0
7fa0364b6000-7fa0364c5000 r--p 00a6a000 08:02 2903988                    /usr/local/lib/libopencv_core.so.3.0.0
7fa0364c5000-7fa0364f1000 rw-p 00a79000 08:02 2903988                    /usr/local/lib/libopencv_core.so.3.0.0
7fa0364f1000-7fa0364f3000 rw-p 00000000 00:00 0 
7fa0364f3000-7fa03663e000 r-xp 00000000 08:02 2904141                    /usr/local/lib/libopencv_imgcodecs.so.3.0.0
7fa03663e000-7fa03683e000 ---p 0014b000 08:02 2904141                    /usr/local/lib/libopencv_imgcodecs.so.3.0.0
7fa03683e000-7fa036840000 r--p 0014b000 08:02 2904141                    /usr/local/lib/libopencv_imgcodecs.so.3.0.0
7fa036840000-7fa036843000 rw-p 0014d000 08:02 2904141                    /usr/local/lib/libopencv_imgcodecs.so.3.0.0
7fa036843000-7fa03690b000 r-xp 00000000 08:02 2904189                    /usr/local/lib/libopencv_features2d.so.3.0.0
7fa03690b000-7fa036b0b000 ---p 000c8000 08:02 2904189                    /usr/local/lib/libopencv_features2d.so.3.0.0
7fa036b0b000-7fa036b0e000 r--p 000c8000 08:02 2904189                    /usr/local/lib/libopencv_features2d.so.3.0.0
7fa036b0e000-7fa036b10000 rw-p 000cb000 08:02 2904189                    /usr/local/lib/libopencv_features2d.so.3.0.0
7fa036b10000-7fa036b2b000 r-xp 00000000 08:02 2891741                    /usr/local/lib/libg2o_stuff.so
7fa036b2b000-7fa036d2b000 ---p 0001b000 08:02 2891741                    /usr/local/lib/libg2o_stuff.so
7fa036d2b000-7fa036d2c000 r--p 0001b000 08:02 2891741                    /usr/local/lib/libg2o_stuff.so
7fa036d2c000-7fa036d2d000 rw-p 0001c000 08:02 2891741                    /usr/local/lib/libg2o_stuff.so
7fa036d2d000-7fa036d2e000 rw-p 00000000 00:00 0 
7fa036d2e000-7fa036d8b000 r-xp 00000000 08:02 2891742                    /usr/local/lib/libg2o_core.so
7fa036d8b000-7fa036f8a000 ---p 0005d000 08:02 2891742                    /usr/local/lib/libg2o_core.so
7fa036f8a000-7fa036f8c000 r--p 0005c000 08:02 2891742                    /usr/local/lib/libg2o_core.so
7fa036f8c000-7fa036f8d000 rw-p 0005e000 08:02 2891742                    /usr/local/lib/libg2o_core.so
7fa036f8d000-7fa036fb3000 r-xp 00000000 08:02 6422611                    /lib/x86_64-linux-gnu/ld-2.23.so
7fa037053000-7fa03716b000 rw-p 00000000 00:00 0 
7fa037175000-7fa037176000 rw-p 00000000 00:00 0 
7fa037176000-7fa037177000 rw-s 00000000 00:06 480                        /dev/nvidiactl
7fa037177000-7fa037178000 rw-s 00000000 00:06 480                        /dev/nvidiactl
7fa037178000-7fa037179000 rw-s 00000000 00:06 480                        /dev/nvidiactl
7fa037179000-7fa03717a000 rw-s 00000000 00:06 480                        /dev/nvidiactl
7fa03717a000-7fa03717b000 rw-s 00000000 00:06 480                        /dev/nvidiactl
7fa03717b000-7fa03717c000 rw-s 00000000 00:06 480                        /dev/nvidiactl
7fa03717c000-7fa03717d000 rw-s 00000000 00:06 480                        /dev/nvidiactl
7fa03717d000-7fa03717e000 rw-s 00000000 00:06 480                        /dev/nvidiactl
7fa03717e000-7fa03717f000 rw-s 00000000 00:06 480                        /dev/nvidiactl
7fa03717f000-7fa037180000 rw-s 00000000 00:06 480                        /dev/nvidiactl
7fa037180000-7fa037181000 rw-s 00000000 00:06 480                        /dev/nvidiactl
7fa037181000-7fa037182000 rw-s 00000000 00:06 480                        /dev/nvidiactl
7fa037182000-7fa037183000 rw-s 00000000 00:06 480                        /dev/nvidiactl
7fa037183000-7fa037184000 rw-s 00000000 00:06 480                        /dev/nvidiactl
7fa037184000-7fa037185000 rw-s 00000000 00:06 480                        /dev/nvidiactl
7fa037185000-7fa037186000 rw-s 00000000 00:06 480                        /dev/nvidiactl
7fa037186000-7fa0371b2000 rw-p 00000000 00:00 0 
7fa0371b2000-7fa0371b3000 r--p 00025000 08:02 6422611                    /lib/x86_64-linux-gnu/ld-2.23.so
7fa0371b3000-7fa0371b4000 rw-p 00026000 08:02 6422611                    /lib/x86_64-linux-gnu/ld-2.23.so
7fa0371b4000-7fa0371b5000 rw-p 00000000 00:00 0 
7ffdf657e000-7ffdf659e000 rwxp 00000000 00:00 0                          [stack]
7ffdf659e000-7ffdf659f000 rw-p 00000000 00:00 0 
7ffdf65c6000-7ffdf65c9000 r--p 00000000 00:00 0                          [vvar]
7ffdf65c9000-7ffdf65cb000 r-xp 00000000 00:00 0                          [vdso]
ffffffffff600000-ffffffffff601000 r-xp 00000000 00:00 0                  [vsyscall]

而后百度无果，请教大神，大神给了两个参考网址，解决了这个error的网址如下：
slam14讲错误解决方案集锦
针对本错误的解决方案1
针对本错误的解决方案2
其实解决这个很简单：
将cmakelists.tx中的这句代码中的-march=native去掉，然后重新编译即可
原语句如下：

set(CMAKE_CXX_FLAGS "-std=c++11 -O2 ${SSE_FLAGS} -g -march=native")

修改后为:

set(CMAKE_CXX_FLAGS "-std=c++11 -O2 ${SSE_FLAGS} -g")

即可成功编译！！！！！！！！！！！！！！！！！！！！！！！！！！！