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Ok I think I fixed this one. Didn't realize cholmod was an external library called by g2o/eigen.
I changed the following line in the CMakeLists.txt to add the cholmod library and all the g2o libs to the rgbdslam build: SET(LIBS_LINK rgbdslam GL GLU cholmod g2o_cli g2o_core g2o_incremental g2o_interactive g2o_interface g2o_math_groups g2o_parser g2o_solver_cholmod g2o_solver_csparse g2o_solver_dense g2o_solver_pcg g2o_stuff g2o_types_icp g2o_types_sba g2o_types_sim3 g2o_types_slam2d g2o_types_slam3d ${QT_LIBRARIES} ${QT_QTOPENGL_LIBRARY} ${GLUT_LIBRARY} ${OPENGL_LIBRARY} ${OpenCV_LIBS})
With this addition it builds... now on to the next challenge :)
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