# 使用 Homebrew, Nix, apt 安装 g2o 查看 g2o 的安装路径、可执行文件、元数据以及面向 AI 代理工作流的安全说明。 ## 安装 ```sh sudo av install brew:g2o ``` 其他安装命令: ### macOS - Homebrew (100%): ```sh brew install g2o ``` 证据: local Homebrew formula metadata ### Linux - Nix (92%): ```sh nix profile install nixpkgs#g2o ``` 证据: nixpkgs package indexes: pkgs/by-name/g2/g2o/package.nix from https://api.github.com/repos/NixOS/nixpkgs/git/trees/master?recursive=1 - Debian apt (92%): ```sh sudo apt install libg2o-dev ``` 证据: Debian stable package indexes: libg2o-dev from https://deb.debian.org/debian/dists/stable/main/binary-amd64/Packages.xz ## 软件包事实 - **软件包键:** brew:g2o - **软件包管理器:** Homebrew - **版本:** 20241228 - **来源摘要:** General framework for graph optimization - **主页:** - **仓库:** - **最后更新:** 2026-08-02T20:52:00+09:00 - **已生成:** 2026-08-03T19:37:03+00:00 ## 可执行文件 - g2o (别名) - g2o_simulator2d (别名) - g2o_simulator3d (别名) ## 安装行为 - Bottle: 不可用 ## 版本和新鲜度 - 页面生成时间: 2026-08-03 - 管理器版本: 20241228 ## 项目历史与用法 g2o is an open-source C++ framework for graph-based nonlinear optimization, best known in robotics and computer vision for simultaneous localization and mapping (SLAM) and bundle adjustment (BA) problems. ### 项目历史 The project was presented by Rainer Kuemmerle, Giorgio Grisetti, Hauke Strasdat, Kurt Konolige, and Wolfram Burgard as "g2o: A General Framework for Graph Optimization" at ICRA 2011. OpenSLAM described the hosted code as a stable release and pointed users to the GitHub repository for development code, including an improved Schur complement implementation and BSD relicensing. The GitHub repository was created in January 2012 and describes g2o as a framework for optimizing graph-based nonlinear error functions. Its README documents CMake/Eigen-based builds, multiple command-line programs, and current support across Linux, macOS, Windows, and Android-related build flows. ### 采用历史 g2o entered package-manager culture because it packages a research-grade SLAM and bundle-adjustment optimizer as a reusable C++ library and CLI toolkit. The upstream README explicitly documents Homebrew installation, and the input package facts list Homebrew, Debian, Ubuntu, and Nix package names. The project also attracted wrapper projects, including a Python binding published separately and a .NET wrapper, showing use beyond direct C++ embedding. ### 使用方式 Users model problems as graph nodes and edges and run g2o's optimizers on nonlinear least-squares graph formulations. Upstream examples and documentation emphasize SLAM, bundle adjustment, and text log formats containing node and edge messages. Package users commonly install the library and tools, then link against g2o from robotics or computer-vision software, or use its command-line binaries such as g2o and the simulator tools. ### 为什么软件包爱好者会关心 g2o is significant because it is a classic academic C++ optimizer that escaped paper-code status into long-lived distro packaging. It carries the usual package-maintainer wrinkles: optional SuiteSparse, Qt/libQGLViewer GUI pieces, mixed license notes for subcomponents, and ABI-sensitive C++ dependencies. ### 时间线 - 2011: g2o paper published at IEEE ICRA. - 2012: Development repository created on GitHub. - 2010s: Packaged across Homebrew, Debian/Ubuntu, and Nix according to the supplied package facts. - 2020s: README documents cross-platform CI/build support and related Python/.NET wrapper projects. ### Related projects - OpenSLAM hosted the original project page and stable release information. - g2o-python provides separately packaged Python bindings. - The README also points to a .NET wrapper for g2o. ### 来源 - - - - ## 安全说明 narrow executable package without higher-risk signals. - **Geiger 风险:** 绿色 / 低 - narrow executable package without higher-risk signals ## 其他软件包管理器记录 - Debian apt - libg2o-dev - 0~20230806-4.1+b2: normalized package name match | Debian stable package indexes: libg2o-dev from https://deb.debian.org/debian/dists/stable/main/binary-amd64/Packages.xz | C++ framework for optimizing graph-based nonlinear error functions | http://www.g2o.org - Debian apt - libg2o-doc - 0~20230806-4.1: normalized package name match | Debian stable package indexes: libg2o-doc from https://deb.debian.org/debian/dists/stable/main/binary-amd64/Packages.xz | C++ framework for optimizing graph-based nonlinear error functions | http://www.g2o.org - Debian apt - libg2o0t64 - 0~20230806-4.1+b2: normalized package name match | Debian stable package indexes: libg2o0t64 from https://deb.debian.org/debian/dists/stable/main/binary-amd64/Packages.xz | C++ framework for optimizing graph-based nonlinear error functions | http://www.g2o.org - Nix - g2o: normalized package name match | nixpkgs package indexes: pkgs/by-name/g2/g2o/package.nix from https://api.github.com/repos/NixOS/nixpkgs/git/trees/master?recursive=1 - Ubuntu apt - libg2o-dev - 0~20230806-4.1build1: normalized package name match | Ubuntu 24.04 LTS package indexes: libg2o-dev from https://archive.ubuntu.com/ubuntu/dists/noble/universe/binary-amd64/Packages.gz | C++ framework for optimizing graph-based nonlinear error functions | http://www.g2o.org - Ubuntu apt - libg2o-doc - 0~20230806-4.1build1: normalized package name match | Ubuntu 24.04 LTS package indexes: libg2o-doc from https://archive.ubuntu.com/ubuntu/dists/noble/universe/binary-amd64/Packages.gz | C++ framework for optimizing graph-based nonlinear error functions | http://www.g2o.org - Ubuntu apt - libg2o0t64 - 0~20230806-4.1build1: normalized package name match | Ubuntu 24.04 LTS package indexes: libg2o0t64 from https://archive.ubuntu.com/ubuntu/dists/noble/universe/binary-amd64/Packages.gz | C++ framework for optimizing graph-based nonlinear error functions | http://www.g2o.org ## Combined YAML source View the package source record on GitHub. [combined/g2o.yml](https://github.com/mxcl/pkgdb/blob/main/combined/g2o.yml) ## 来源 - pkg.so package database - Geiger risk classifier - curated package history - pkgdb category and tag curation - external package-manager database matches - cross-ecosystem install command graph