Install g2o

g2o (General Graph Optimization) is an open-source C++ framework for optimizing graph-based nonlinear error functions, widely used in SLAM and bundle adjustment.

Dependencies

sudo apt install cmake libeigen3-dev

tip

g2o can optionally use Ceres Solver. See the Install Ceres Solver page if you need it.

Build and Install

git clone https://github.com/RainerKuemmerle/g2o.git
cd g2o
mkdir build
cd build
cmake ..
cmake --build . -j$(nproc)
sudo cmake --install .