コンパイルエラー（linux）

[arTOc]

http://www.hs-coburg.de/ahrs.3.html
のサイトに載っているDoF6_ahrs_1.0.0をmakeしたのですがいくつかのエラーが出て未だに解決できていません。
これはraspberry piのプログラムですがbeaglebone Black（os : ubuntu） でコンパイルしています。
これらのエラーはboost関係だと思うのですがどうしたら解決できるでしょうか。
sudo apt-get install libboost-all-dev
でboost関係はすべてインストールしていると思うのですが何が悪いのでしょうか。

コード:

root@arm:~/DoF6_ahrs_1.0.0# make
g++ -lboost_program_options  DoF6_ahrs.o ADXL345.o DoF6.o HMC5883.o I2CBus.o ITG3200.o   -o DoF6_ahrs
DoF6_ahrs.o: In function `boost::program_options::typed_value<std::string, char>::xparse(boost::any&, std::vector<std::string, std::allocator<std::string> > const&) const':
DoF6_ahrs.cpp:(.text._ZNK5boost15program_options11typed_valueISscE6xparseERNS_3anyERKSt6vectorISsSaISsEE[_ZNK5boost15program_options11typed_valueISscE6xparseERNS_3anyERKSt6vectorISsSaISsEE]+0x1a): undefined reference to `boost::program_options::validate(boost::any&, std::vector<std::string, std::allocator<std::string> > const&, std::string*, int)'
DoF6_ahrs.o: In function `boost::program_options::typed_value<std::string, char>::name() const':
DoF6_ahrs.cpp:(.text._ZNK5boost15program_options11typed_valueISscE4nameEv[_ZNK5boost15program_options11typed_valueISscE4nameEv]+0x16): undefined reference to `boost::program_options::arg'
DoF6_ahrs.cpp:(.text._ZNK5boost15program_options11typed_valueISscE4nameEv[_ZNK5boost15program_options11typed_valueISscE4nameEv]+0x1a): undefined reference to `boost::program_options::arg'
DoF6_ahrs.o: In function `boost::program_options::basic_command_line_parser<char>::basic_command_line_parser(int, char const* const*)':
DoF6_ahrs.cpp:(.text._ZN5boost15program_options25basic_command_line_parserIcEC2EiPKPKc[_ZN5boost15program_options25basic_command_line_parserIcEC5EiPKPKc]+0x12c): undefined reference to `boost::program_options::to_internal(std::string const&)'
DoF6_ahrs.cpp:(.text._ZN5boost15program_options25basic_command_line_parserIcEC2EiPKPKc[_ZN5boost15program_options25basic_command_line_parserIcEC5EiPKPKc]+0x150): undefined reference to `boost::program_options::detail::cmdline::cmdline(std::vector<std::string, std::allocator<std::string> > const&)'
DoF6_ahrs.cpp:(.text._ZN5boost15program_options25basic_command_line_parserIcEC2EiPKPKc[_ZN5boost15program_options25basic_command_line_parserIcEC5EiPKPKc]+0x304): undefined reference to `boost::program_options::to_internal(std::string const&)'
DoF6_ahrs.o: In function `boost::program_options::basic_command_line_parser<char>::run()':
DoF6_ahrs.cpp:(.text._ZN5boost15program_options25basic_command_line_parserIcE3runEv[_ZN5boost15program_options25basic_command_line_parserIcE3runEv]+0xe): undefined reference to `boost::program_options::detail::cmdline::get_canonical_option_prefix()'
DoF6_ahrs.cpp:(.text._ZN5boost15program_options25basic_command_line_parserIcE3runEv[_ZN5boost15program_options25basic_command_line_parserIcE3runEv]+0x22): undefined reference to `boost::program_options::detail::cmdline::run()'
DoF6_ahrs.o: In function `boost::program_options::variables_map::~variables_map()':
DoF6_ahrs.cpp:(.text._ZN5boost15program_options13variables_mapD2Ev[_ZN5boost15program_options13variables_mapD5Ev]+0x2c): undefined reference to `vtable for boost::program_options::variables_map'
DoF6_ahrs.o: In function `boost::program_options::variables_map::~variables_map()':
DoF6_ahrs.cpp:(.text._ZN5boost15program_options13variables_mapD0Ev[_ZN5boost15program_options13variables_mapD0Ev]+0x34): undefined reference to `vtable for boost::program_options::variables_map'
DoF6_ahrs.o: In function `main':
DoF6_ahrs.cpp:(.text.startup+0x4e): undefined reference to `boost::program_options::options_description::m_default_line_length'
DoF6_ahrs.cpp:(.text.startup+0x52): undefined reference to `boost::program_options::options_description::m_default_line_length'
DoF6_ahrs.cpp:(.text.startup+0x60): undefined reference to `boost::program_options::options_description::options_description(std::string const&, unsigned int, unsigned int)'
DoF6_ahrs.cpp:(.text.startup+0x72): undefined reference to `boost::program_options::options_description::add_options()'
DoF6_ahrs.cpp:(.text.startup+0x8a): undefined reference to `boost::program_options::options_description_easy_init::operator()(char const*, char const*)'
DoF6_ahrs.cpp:(.text.startup+0x9e): undefined reference to `boost::program_options::options_description_easy_init::operator()(char const*, char const*)'
DoF6_ahrs.cpp:(.text.startup+0xd8): undefined reference to `boost::program_options::options_description_easy_init::operator()(char const*, boost::program_options::value_semantic const*, char const*)'
DoF6_ahrs.cpp:(.text.startup+0x112): undefined reference to `boost::program_options::options_description_easy_init::operator()(char const*, boost::program_options::value_semantic const*, char const*)'
DoF6_ahrs.cpp:(.text.startup+0x14c): undefined reference to `boost::program_options::options_description_easy_init::operator()(char const*, boost::program_options::value_semantic const*, char const*)'
DoF6_ahrs.cpp:(.text.startup+0x170): undefined reference to `boost::program_options::variables_map::variables_map()'
DoF6_ahrs.cpp:(.text.startup+0x182): undefined reference to `boost::program_options::detail::cmdline::set_options_description(boost::program_options::options_description const&)'
DoF6_ahrs.cpp:(.text.startup+0x196): undefined reference to `boost::program_options::store(boost::program_options::basic_parsed_options<char> const&, boost::program_options::variables_map&, bool)'
DoF6_ahrs.cpp:(.text.startup+0x1a8): undefined reference to `boost::program_options::notify(boost::program_options::variables_map&)'
DoF6_ahrs.cpp:(.text.startup+0x1de): undefined reference to `boost::program_options::operator<<(std::ostream&, boost::program_options::options_description const&)'
DoF6_ahrs.cpp:(.text.startup+0x56e): undefined reference to `boost::program_options::error_with_option_name::get_canonical_option_name() const'
DoF6_ahrs.o:(.rodata._ZTIN5boost15program_options20multiple_occurrencesE[_ZTIN5boost15program_options20multiple_occurrencesE]+0x8): undefined reference to `typeinfo for boost::program_options::error_with_option_name'
DoF6_ahrs.o:(.rodata._ZTIN5boost15program_options11typed_valueISscEE[_ZTIN5boost15program_options11typed_valueISscEE]+0x10): undefined reference to `typeinfo for boost::program_options::value_semantic_codecvt_helper<char>'
DoF6_ahrs.o:(.rodata._ZTVN5boost15program_options11typed_valueISscEE[_ZTVN5boost15program_options11typed_valueISscEE]+0x1c): undefined reference to `boost::program_options::value_semantic_codecvt_helper<char>::parse(boost::any&, std::vector<std::string, std::allocator<std::string> > const&, bool) const'
collect2: error: ld returned 1 exit status
make: *** [DoF6_ahrs] Error 1
root@arm:~/DoF6_ahrs_1.0.0#

[arTOc]

ここでの回答はちょっと厳しい感じがしてきました。
未解決ですが、解決済みとします。
出直してきます。
考えていただいてありがとうございました。