libg2o-dev 0~20230806-4.1 (armhf binary) in ubuntu noble

 A wide range of problems in robotics as well as in computer-vision involve the
 minimization of a non-linear error function that can be represented as a graph.
 Typical instances are simultaneous localization and mapping (SLAM) or bundle
 adjustment (BA). The overall goal in these problems is to find the
 configuration of parameters or state variables that maximally explain a set of
 measurements affected by Gaussian noise. g2o is an open-source C++ framework
 for such nonlinear least squares problems. g2o has been designed to be easily
 extensible to a wide range of problems and a new problem typically can be
 specified in a few lines of code. The current implementation provides solutions
 to several variants of SLAM and BA. g2o offers a performance comparable to
 implementations of state-of-the-art approaches for the specific problems
 (02/2011)
 .
 Development files