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)

GLib is a low-level general-purpose library used mainly by GTK+/GNOME applications, but is useful for other programs as well. glibmm is the C++ wrapper for GLib.

Funtools, is a "minimal buy-in" FITS library and utility package developed at the High Energy Astrophysics Division of SAO. The Funtools library provides simplified access to a wide array of file types: standard astronomical FITS images and binary tables, raw arrays and binary event lists, and even tables of ASCII column data. A sophisticated region filtering library (compatible with ds9) filters images and tables using boolean operations between geometric shapes, support world coordinates, etc. Funtools also supports advanced capabilities such as optimized data searching using index files.

GLib is a library containing many useful C routines for things such as trees, hashes, lists, and strings. It is a useful general-purpose C library used by projects such as GTK+, GIMP, and GNOME.

This is the Phobos standard library that comes with the D2 compiler.

This is the Phobos standard library that comes with the D2 compiler.