Importing geometry data from .dae file

Hi guys, I am trying to extract the geometry data out of .dae files. I have been trying to put ColladaDom onto my mac. Running Snow Leopard 10.6.8, GNU make 3.81.
First of all the 2.3 version never made as there seemed to be some files missing. I downloaded the 2.2 version which did make but now when I try to compile a test program using g++ I get this error… what am I missing?

Undefined symbols:
  "DAE::open(std::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)", referenced from:
      _main in ccege4i3.o
  "boost::system::system_category()", referenced from:
      __static_initialization_and_destruction_0(int, int)in ccege4i3.o
  "daeURI::~daeURI()", referenced from:
      DAE::DAE(daeDatabase*, daeIOPlugin*)    in ccege4i3.o
  "daeIDRefResolverList::daeIDRefResolverList()", referenced from:
      DAE::DAE(daeDatabase*, daeIOPlugin*)    in ccege4i3.o
  "checkedRef(daeRefCountedObj const*)", referenced from:
      daeSmartRef<daeMetaElement>::daeSmartRef(daeSmartRef<daeMetaElement> const&)in ccege4i3.o
      daeSmartRef<daeMetaElement>::operator=(daeSmartRef<daeMetaElement> const&)in ccege4i3.o
  "daeElement::getAttribute(char const*)", referenced from:
      _main in ccege4i3.o
  "daeArray::daeArray()", referenced from:
      daeTArray<daeSmartRef<daeMetaElement> >::daeTArray()in ccege4i3.o
  "DAE::~DAE()", referenced from:
      _main in ccege4i3.o
      _main in ccege4i3.o
  "typeinfo for daeArray", referenced from:
      typeinfo for daeTArray<daeSmartRef<daeMetaElement> >in ccege4i3.o
  "daeURIResolverList::~daeURIResolverList()", referenced from:
      DAE::DAE(daeDatabase*, daeIOPlugin*)    in ccege4i3.o
  "daeElement::getDescendant(char const*)", referenced from:
      _main in ccege4i3.o

My second question is which functions do I use to extract the geometry, it would be ideal if I could output it into a list, stack, or an array of some sort.

Thanks in advance for your time and reading.

anyone please? even a terminal line to submit to g++ would be helpful. thanks