CMake: updated to support latest g2oConfig.cmake (using targets)

CMakeLists.txt

@@ -412,7 +412,14 @@ IF(WITH_G2O)
     FIND_PACKAGE(G2O QUIET)
     IF(G2O_FOUND)
        MESSAGE(STATUS "Found g2o: ${G2O_INCLUDE_DIRS}")
-    ENDIF(G2O_FOUND)
+    ELSE()
+       FIND_PACKAGE(g2o QUIET)
+       IF(g2o_FOUND)
+	  SET(G2O_FOUND ${g2o_FOUND})
+	  SET(G2O_CPP11 1)
+	  MESSAGE(STATUS "Found g2o (targets)")
+       ENDIF(g2o_FOUND)
+    ENDIF()
 ENDIF(WITH_G2O)
 
 IF(WITH_GTSAM)

corelib/src/CMakeLists.txt

@@ -351,14 +351,29 @@ IF(WITH_TORO)
 ENDIF(WITH_TORO)
 
 IF(G2O_FOUND)
-	SET(INCLUDE_DIRS 
+	IF(g2o_FOUND)
+	  SET(LIBRARIES
+             ${LIBRARIES}
+	     g2o::core
+	     g2o::solver_cholmod
+	     g2o::solver_eigen
+	     g2o::solver_pcg
+	     g2o::solver_csparse
+	     g2o::csparse_extension
+	     g2o::types_slam2d
+	     g2o::types_slam3d
+	     g2o::types_sba
+	  )
+	ELSE()
+	  SET(INCLUDE_DIRS 
 		${INCLUDE_DIRS} 
 		${G2O_INCLUDE_DIRS}
-	)
-	SET(LIBRARIES
+	  )
+	  SET(LIBRARIES
 		${LIBRARIES}
 		${G2O_LIBRARIES}
-	)
+	  )
+	ENDIF()
 	SET(SRC_FILES
     		${SRC_FILES}
 		optimizer/g2o/edge_se3_xyzprior.cpp