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If it's a catkin package you should be using:

find_package(catkin REQUIRED COMPONENTS libg2o ...)

If it's a catkin package you should be using:

find_package(catkin REQUIRED COMPONENTS libg2o ...)

Edit: It's not a catkin package so what you're doing is right. However it appears that libg20 is not installing it's cmake files which are needed for find_package(G2O) to work.

A ticket should be filed with g2o https://github.com/RainerKuemmerle/g2o/issues