I had to use the build script with docker since it is not easy to get the dependencies right:
./build.sh --docker

but for some reason THREADS was missing I added to the CMakeLists.txt:

set(CMAKE_THREAD_LIBS_INIT "-lpthread")
set(CMAKE_HAVE_THREADS_LIBRARY 1)
set(CMAKE_USE_WIN32_THREADS_INIT 0)
set(CMAKE_USE_PTHREADS_INIT 1)
set(THREADS_PREFER_PTHREAD_FLAG ON)

If it still does not work I added also
libpthread-stubs0-dev \
to the Dockerfile but I don't think it is needed.