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Looks like the opencv libraries are not supported. I would ask you to download the ccny_rgbd_tools from this link https://dl.dropboxusercontent.com/u/95042389/ccny_rgbd_tools.zip

This should work on ubuntu 12.04 and fuerte with rosbuild system.

Remove the libg2o libraries from ubuntu software center
rosdep install ccny_rgbd_tools then rosmake and hope fully it will work

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