--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -2,6 +2,9 @@
 
 cmake_minimum_required(VERSION 3.10)
 
+# Add suitesparse include for g2o's csparse extension (cs.h)
+include_directories(/usr/include/suitesparse)
+
 project(rtabmap VERSION 0.22.1)
 
 set(CMAKE_CXX_STANDARD 17)