macOS
Homebrew已验证 · 100%
brew install g2olocal Homebrew formula metadata
安装
其他安装命令
Linux
Nix已验证 · 92%
nix profile install nixpkgs#g2onixpkgs package indexes · pkgs/by-name/g2/g2o/package.nix · 来源: api.github.com
Debian apt已验证 · 92%
sudo apt install libg2o-devDebian stable package indexes · libg2o-dev · 来源: deb.debian.org
概览
软件包摘要
General framework for graph optimization
历史
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
安全态势
风险级别：绿色
narrow executable package without higher-risk signals.
风险分类器
绿色 风险 · 低 置信度 · appliance
原因
- narrow executable package without higher-risk signals
信号
- metadata:no-higher-risk-signals
安装行为
- formula 元数据中未记录 Homebrew post-install 钩子。
- Homebrew bottle 元数据适用于 8 个平台目标。
- 安装时包含 1 个运行时依赖。
- 构建元数据列出 1 个构建依赖。
建议审查
在无人值守的代理使用前，请检查该工具是否读取明文凭据、写入远程状态、发布制品或调用插件。
可执行文件
已安装的可执行文件
| 命令 | 类型 | 暴露范围 | 备注 |
|---|---|---|---|
g2o | cli | 全局可执行文件 | |
g2o_simulator2d | cli | 全局可执行文件 | |
g2o_simulator3d | cli | 全局可执行文件 |
新鲜度
版本和新鲜度
这些信号区分页生成时间、软件包管理器活动和上游发布比较。只有存在证据 URL 和可比较版本时，才会提示版本落后。
页面生成时间2026-07-26
管理器版本20241228
管理器更新时间2026-06-25
本地数据OK
上游not checked
检测到的最新版本未检测到
https://github.com/RainerKuemmerle/g2o
- 信息No cached GitHub release or tag data was available.https://github.com/RainerKuemmerle/g2onone 置信度
安装元数据
软件包元数据
| 软件包键 | brew:g2o |
|---|---|
| 版本 | 20241228 |
| 软件包管理器 | Homebrew |
| 软件包管理器页面 | https://formulae.brew.sh/formula/g2o |
| 主页 | https://openslam-org.github.io/g2o.html |
| 仓库 | https://github.com/RainerKuemmerle/g2o |
| 上游文档 | https://github.com/RainerKuemmerle/g2o#readme |
| 许可证 | BSD-2-Clause |
| 源码归档 | https://github.com/RainerKuemmerle/g2o/archive/refs/tags/20241228_git.tar.gz |
| 最后更新 | 2026-06-25T13:37:41+02:00 |
| Pulse | updated |
| 依赖 | eigen |
| 构建依赖 | cmake |
| Bottle | 可用 (于 arm64_linux, arm64_sequoia, arm64_sonoma, arm64_tahoe, sequoia, sonoma, tahoe, x86_64_linux) |
| Homebrew post-install | 未定义 |
| 服务 | 未声明 |
注册表事实
源数据库详情
| Source Database | Homebrew formula API |
|---|---|
| Tap | homebrew/core |
| Full Name | g2o |
| Version Scheme | 0 |
| Revision | 1 |
| Bottle Stable Root URL | https://ghcr.io/v2/homebrew/core |
| Deprecated | no |
| Disabled | no |
| Keg Only | no |
| URL Keys |
|
源数据库匹配
其他软件包管理器记录
匹配项来自外部软件包管理器索引，并与本地 Automic Vault 软件包链接分开显示。
Debian apt95%
libg2o-dev 0~20230806-4.1+b2
C++ framework for optimizing graph-based nonlinear error functions
sudo apt install libg2o-dev- Section: libdevel
- Architecture: amd64
- Source Package: g2o
- 3 依赖
- 1 可选依赖
- normalized package name match
- 匹配方式：G2o
Debian apt95%
libg2o-doc 0~20230806-4.1
C++ framework for optimizing graph-based nonlinear error functions
sudo apt install libg2o-doc- Section: doc
- Architecture: all
- Source Package: g2o
- normalized package name match
- 匹配方式：G2o
Debian apt95%
libg2o0t64 0~20230806-4.1+b2
C++ framework for optimizing graph-based nonlinear error functions
sudo apt install libg2o0t64- Section: libs
- Architecture: amd64
- Source Package: g2o
- 9 依赖
- 1 提供
- normalized package name match
- 匹配方式：G2o
Nix95%
g2o
nix profile install nixpkgs#g2o- normalized package name match
- 匹配方式：G2o
Ubuntu apt95%
libg2o-dev 0~20230806-4.1build1
C++ framework for optimizing graph-based nonlinear error functions
sudo apt install libg2o-dev- Section: universe/libdevel
- Architecture: amd64
- Source Package: g2o
- 3 依赖
- 1 可选依赖
- normalized package name match
- 匹配方式：G2o
Ubuntu apt95%
libg2o-doc 0~20230806-4.1build1
C++ framework for optimizing graph-based nonlinear error functions
sudo apt install libg2o-doc- Section: universe/doc
- Architecture: all
- Source Package: g2o
- normalized package name match
- 匹配方式：G2o
Ubuntu apt95%
libg2o0t64 0~20230806-4.1build1
C++ framework for optimizing graph-based nonlinear error functions
sudo apt install libg2o0t64- Section: universe/libs
- Architecture: amd64
- Source Package: g2o
- 9 依赖
- 1 提供
- normalized package name match
- 匹配方式：G2o
来源线索
由仓库数据生成
此页面由 av-web 从 scripts/generate-pkg-sqlite.py 生成的私有软件包 SQLite 工件提供。
Combined YAML source
View the package source record on GitHub.
使用的来源
- Geiger risk classifier
- Nucleus package database
- av.db category and tag curation
- cross-ecosystem install command graph
- curated package history
- external package-manager database matches
- package relationship graph
- package version freshness
- package-page enrichment