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I've changed the line in the src/rgbdslam_v2/CMakeLists.txt to the following:

SET(LIBS_LINK GL GLU cholmod /usr/lib/x86_64-linux-gnu/libcxsparse.so.3.1.2 #/usr/lib/libcxsparse.so.2.2.3 ${G2O_LIBRARIES} ${QT_LIBRARIES} ${QT_QTOPENGL_LIBRARY} ${GLUT_LIBRARY} ${OPENGL_LIBRARY} ${OpenCV_LIBS})

And the package compiled. I guess author haven't made a proper cmake search module for it just yet.

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