Cloudera Impala build error: undefined reference to boost function

I am building Cloudera Impala <https://github.com/cloudera/impala> on
Ubuntu 12.04 and have run into the following errors
../../build/debug/exec/libExec.a(hash-join-node.cc.o): In function
  `boost::system::make_error_code(boost::future_errc)':
/usr/local/include/boost/thread/future.hpp:113: undefined reference to
`boost::future_category()' collect2: ld returned 1 exit status|

I googled a bit and found such answers as 'linking to boost library'. I
know how to link a library when compiling a c++ program. But how to do
so in this situation?

Thanks,
Manu Zhang