Running installation of rtabmap error

[brunoeducsantos]

Hi,
I am on Ubuntu 16.04.01 and run the installation of rtabmap standlalone mode.
I am obtaining the following errors:
Run Build Command:"/usr/bin/make" "cmTC_7aa96/fast"
/usr/bin/make -f CMakeFiles/cmTC_7aa96.dir/build.make CMakeFiles/cmTC_7aa96.dir$
make[1]: Entering directory '/home/brunoeducsantos/rtabmap/CMakeFiles/CMakeTmp'
Building C object CMakeFiles/cmTC_7aa96.dir/CheckFunctionExists.c.o
/usr/bin/cc    -fmessage-length=0 -DCHECK_FUNCTION_EXISTS=pthread_create   -o C$
Linking C executable cmTC_7aa96
/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_7aa96.dir/link.txt --verbos$
/usr/bin/cc   -fmessage-length=0 -DCHECK_FUNCTION_EXISTS=pthread_create    CMak$
/usr/bin/ld: cannot find -lpthreads
collect2: error: ld returned 1 exit status
CMakeFiles/cmTC_7aa96.dir/build.make:97: recipe for target 'cmTC_7aa96' failed

Any help would be appreciated

[brunoeducsantos]

It is the rtabmap current version

[matlabbe]

What steps did you do? What is the cmake output?