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Adding executables to the exported targets means that their existance is required for any dependent project to use the generated cmake module, even though the executables are not required at compile/link-time. This is normally fine when building from source, but runs into issues with distributions like RedHat or Debian, who split projects into multiple packages, such as g2o-cli, g2o-devel, g2o-plugins, etc.
There isn't any reason to require the executables to be present when linking against g2o libraries, so just remove them from the generated cmake module by dropping them from the exported target list.