diff --git a/.github/workflows/cmake.yml b/.github/workflows/cmake.yml
index 9cea67a2..9a347527 100644
--- a/.github/workflows/cmake.yml
+++ b/.github/workflows/cmake.yml
@@ -19,19 +19,26 @@ jobs:
       fail-fast: false
       matrix:
         os: [ubuntu-24.04, ubuntu-22.04]
+        include:
+        - os: ubuntu-22.04
+          extra_deps: "libunwind-dev libceres-dev"
+          extra_cmake_def: ""
+        - os: ubuntu-24.04
+          extra_deps: "libg2o-dev libceres-dev"
+          extra_cmake_def: "-DWITH_CERES=ON"
 
     steps:    
     - name: Install dependencies
       run: |
         DEBIAN_FRONTEND=noninteractive
         sudo apt-get update
-        sudo apt-get -y install libopencv-dev libpcl-dev git cmake software-properties-common libyaml-cpp-dev
+        sudo apt-get -y install libopencv-dev libpcl-dev git cmake software-properties-common libyaml-cpp-dev ${{ matrix.extra_deps }}
 
     - uses: actions/checkout@v4
 
     - name: Configure CMake
       run: |
-        cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}}
+        cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} ${{ matrix.extra_cmake_def }}
 
     - name: Build
       run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}
diff --git a/CMakeLists.txt b/CMakeLists.txt
index a8fb50b3..c7ffc04a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -501,21 +501,30 @@ IF(WITH_G2O)
          get_target_property(G2O_INCLUDES g2o::core INTERFACE_INCLUDE_DIRECTORIES)
          MESSAGE(STATUS "g2o include dir: ${G2O_INCLUDES}")
          FIND_FILE(G2O_FACTORY_FILE g2o/core/factory.h 
-         PATHS ${G2O_INCLUDES}
-         NO_DEFAULT_PATH)
-       FILE(READ ${G2O_FACTORY_FILE} TMPTXT)
-       STRING(FIND "${TMPTXT}" "shared_ptr" matchres)
-       IF(${matchres} EQUAL -1)
-           MESSAGE(STATUS "Old g2o factory version detected without shared ptr (factory file: ${G2O_FACTORY_FILE}).")
-           SET(G2O_CPP11 2)
-       ELSE()
-           MESSAGE(STATUS "Latest g2o factory version detected with shared ptr (factory file: ${G2O_FACTORY_FILE}).")
-           SET(G2O_CPP11 1)
-       ENDIF()
+            PATHS ${G2O_INCLUDES}
+            NO_DEFAULT_PATH)
+         FILE(READ ${G2O_FACTORY_FILE} TMPTXT)
+         STRING(FIND "${TMPTXT}" "shared_ptr" matchres)
+         IF(${matchres} EQUAL -1)
+            MESSAGE(STATUS "Old g2o factory version detected without shared ptr (factory file: ${G2O_FACTORY_FILE}).")
+            SET(G2O_CPP11 2)
+         ELSE()
+            MESSAGE(STATUS "Latest g2o factory version detected with shared ptr (factory file: ${G2O_FACTORY_FILE}).")
+            SET(G2O_CPP11 1)
+         ENDIF()
     ELSE()
         FIND_PACKAGE(G2O QUIET)
         IF(G2O_FOUND)
             MESSAGE(STATUS "Found g2o: ${G2O_INCLUDE_DIRS}")
+            FIND_FILE(G2O_FACTORY_FILE g2o/core/factory.h 
+               PATHS ${G2O_INCLUDES}
+               NO_DEFAULT_PATH)
+            FILE(READ ${G2O_FACTORY_FILE} TMPTXT)
+            STRING(FIND "${TMPTXT}" "shared_ptr" matchres)
+            IF(NOT ${matchres} EQUAL -1)
+               MESSAGE(STATUS "Latest g2o factory version detected with shared ptr (factory file: ${G2O_FACTORY_FILE}).")
+               SET(G2O_CPP11 1)
+            ENDIF()
         ENDIF(G2O_FOUND)
     ENDIF()
 ENDIF(WITH_G2O)