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You're not linking your executable with the g20 library. The errors you get come from the linker, which is informing you it cannot find any of the symbols you are referencing. Something along the lines of

link_directories (/path/to/where/you/installed/g2o/libraries)
target_link_libraries (g2o_mvm some_g2o_library)

should solve this.

You're not linking your executable with the g20 g2o library. The errors you get come from the linker, which is informing you it cannot find any of the symbols you are referencing. Something along the lines of

link_directories (/path/to/where/you/installed/g2o/libraries)
target_link_libraries (g2o_mvm some_g2o_library)

should solve this.


Edit: where does the G2O_INCLUDE_DIRS variable come from? You're adding it to your include directories, but it doesn't seem to get set by any earlier statements.