Updated FindG2O.cmake to add chmold include directory

cmake_modules/FindG2O.cmake

@@ -7,6 +7,10 @@ FIND_LIBRARY(CSPARSE_LIBRARY NAMES cxsparse g2o_ext_csparse
 include(FindPackageHandleStandardArgs)
 find_package_handle_standard_args(CSPARSE DEFAULT_MSG CSPARSE_INCLUDE_DIR CSPARSE_LIBRARY)
 
+# chmold dependency
+FIND_PATH(CHOLMOD_INCLUDE_DIR NAMES cholmod.h PATH_SUFFIXES suitesparse ufsparse
+  PATHS $ENV{CHOLMODDIR} ${INCLUDE_INSTALL_DIR} )
+FIND_LIBRARY(CHOLMOD_LIB cholmod)
 
 # G2O: Find the header files
 
@@ -69,8 +73,6 @@ ENDIF(G2O_SOLVER_CHOLMOD OR G2O_SOLVER_CSPARSE OR G2O_SOLVER_DENSE OR G2O_SOLVER
 
 # G2O itself declared found if we found the core libraries and at least one solver
 SET(G2O_FOUND "NO")
-SET(G2O_CHOMOLD_FOUND "NO")
-FIND_LIBRARY(CHOLMOD_LIB cholmod)
 IF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_SOLVERS_FOUND)
   SET(G2O_INCLUDE_DIRS ${G2O_INCLUDE_DIR})
   SET(G2O_LIBRARIES 
@@ -79,13 +81,6 @@ IF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_SOLVERS_FO
 	${G2O_TYPES_SLAM3D}
         ${G2O_STUFF_LIBRARY})
   
-  IF(G2O_SOLVER_CHOLMOD)
-    SET(G2O_LIBRARIES 
-	  ${G2O_LIBRARIES}
-	  ${G2O_SOLVER_CHOLMOD}
-	  ${CHOLMOD_LIB})
-  ENDIF(G2O_SOLVER_CHOLMOD)
-
   IF(CSPARSE_FOUND)
      SET(G2O_INCLUDE_DIRS 
         ${G2O_INCLUDE_DIRS} 
@@ -97,5 +92,15 @@ IF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_SOLVERS_FO
 	${CSPARSE_LIBRARY})
   ENDIF(CSPARSE_FOUND)
 
+  IF(G2O_SOLVER_CHOLMOD)
+    SET(G2O_INCLUDE_DIRS 
+        ${G2O_INCLUDE_DIRS} 
+        ${CHOLMOD_INCLUDE_DIR})
+    SET(G2O_LIBRARIES 
+	  ${G2O_LIBRARIES}
+	  ${G2O_SOLVER_CHOLMOD}
+	  ${CHOLMOD_LIB})
+  ENDIF(G2O_SOLVER_CHOLMOD)
+
   SET(G2O_FOUND "YES")
 ENDIF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_SOLVERS_FOUND)