undefined reference to `boost::system::system_category()‘ 我的解决记录

我的PCL 安装 以及错误 记录

首先安装相关依赖后，开始安装PCL。

git clone -b pcl-1.12.1 https://github.com/PointCloudLibrary/pcl.git
cd pcl && mkdir build && cd build
cmake ..
make -j2	// (我在这里报错)
make install	

执行到make -j2这一步的时候，终端报错。

hu@hu:~/pcl-pcl-1.12.1/build$ make -j2
[  1%] Built target pcl_io_ply
[  3%] Built target pcl_pcd_convert_NaN_nan
[  7%] Built target pcl_common
[  8%] Built target pcl_ply2raw
[  8%] Built target pcl_plyheader
[ 10%] Built target pcl_ply2ply
[ 10%] Built target pcl_ply2obj
[ 12%] Built target pcl_ml
[ 13%] Built target pcl_stereo
[ 13%] Built target pcl_kdtree
[ 13%] Built target pcl_octree
[ 17%] Built target pcl_sample_consensus
[ 27%] Built target pcl_io
[ 28%] Built target pcl_search
[ 29%] Linking CXX executable ../../bin/pcl_openni_grabber_example
[ 29%] Linking CXX executable ../../bin/pcl_openni_grabber_depth_example
/usr/bin/ld: ../../lib/libpcl_io.so.1.12.1: undefined reference to `boost::system::system_category()'
/usr/bin/ld: ../../lib/libpcl_io.so.1.12.1: undefined reference to `boost::system::generic_category()'
collect2: error: ld returned 1 exit status
make[2]: *** [io/tools/CMakeFiles/pcl_openni_grabber_depth_example.dir/build.make:96：bin/pcl_openni_grabber_depth_example] 错误 1
make[1]: *** [CMakeFiles/Makefile2:1208：io/tools/CMakeFiles/pcl_openni_grabber_depth_example.dir/all] 错误 2
make[1]: *** 正在等待未完成的任务....
/usr/bin/ld: ../../lib/libpcl_io.so.1.12.1: undefined reference to `boost::system::system_category()'
/usr/bin/ld: ../../lib/libpcl_io.so.1.12.1: undefined reference to `boost::system::generic_category()'
collect2: error: ld returned 1 exit status
make[2]: *** [io/tools/CMakeFiles/pcl_openni_grabber_example.dir/build.make:96：bin/pcl_openni_grabber_example] 错误 1
make[1]: *** [CMakeFiles/Makefile2:1179：io/tools/CMakeFiles/pcl_openni_grabber_example.dir/all] 错误 2
make: *** [Makefile:152：all] 错误 2

我是个新手，哪里知道这个报错是什么原因导致的啊，然后，我就到处找解决方法。
终于，功夫不负有心人，我在这里找到了解决方法，结束了我长达三天的挣扎。
这个错误好像没有多少人遇到，所以解决方法不具有普适性
所以，仅供参考。