Openvslam的编译问题recompile with -fPIC

OpenVSLAM的编译问题

安装依赖：

sudo apt-get update
sudo apt-get install build-essential pkg-config cmake git wget curl unzip
sudo apt-get install libatlas-base-dev libsuitesparse-dev
sudo apt-get install libgtk-3-dev
sudo apt-get install ffmpeg
sudo apt-get install libavcodec-dev libavformat-dev libavutil-dev libswscale-dev libavresample-dev
sudo apt-get  install libgoogle-glog-dev libgflags-dev
sudo apt-get install libopenblas-dev
sudo apt-get install --no-install-recommends libboost1.65-all-dev 
sudo apt-get install libx11-dev 
sudo apt-get install libgl1-mesa-dev 
sudo apt-get install freeglut3-dev 
sudo apt-get install doxygen 
wget https://nchc.dl.sourceforge.net/project/glew/glew/2.1.0/glew-2.1.0.tgz --no-check-certificate 
tar -xzvf glew-2.1.0.tgz  && cd glew-2.1.0/ 
make -j2
sudo make install 
sudo ln -s /usr/lib64/libGLEW.so.2.1 /usr/lib/libGLEW.so.2.1
sudo ldconfig -v

编译openvslam时遇到如下问题：

/usr/bin/ld: /usr/local/lib/libyaml-cpp.a(scanscalar.cpp.o): relocation R_X86_64_PC32 against symbol `ZNK4YAML5RegEx14MatchUncheckedINS_16StreamCharSourceEEEiRKT’ can not be used when making a shared object; recompile with -fPIC
/usr/bin/ld: 最后的链结失败: 错误的值
collect2: error: ld returned 1 exit status
src/openvslam/CMakeFiles/openvslam.dir/build.make:1926: recipe for target ‘lib/libopenvslam.so’ failed
make[2]: *** [lib/libopenvslam.so] Error 1
CMakeFiles/Makefile2:138: recipe for target ‘src/openvslam/CMakeFiles/openvslam.dir/all’ failed
make[1]: *** [src/openvslam/CMakeFiles/openvslam.dir/all] Error 2
Makefile:129: recipe for target ‘all’ failed
make: *** [all] Error 2

因为： * yaml-cpp defaults to building a static library, but you may build a shared library by specifying -DYAML_BUILD_SHARED_LIBS=ON.
所以在yaml-cpp的cmake选项上加上 -DYAML_BUILD_SHARED_LIBS=ON

重新编译yaml-cpp：

git clone https://github.com/jbeder/yaml-cpp
cd yaml-cpp
mkdir build && cd build
cmake \
​    -DYAML_BUILD_SHARED_LIBS=ON \
​    -DCMAKE_BU ILD_TYPE=Release \
​    -DCMAKE_INSTALL_PREFIX=/usr/local \
​    ..
make -j2
sudo make install 
sudo ldconfig -v

最后重新编译openvslam即可