diff --git a/pkgs/development/libraries/g2o/default.nix b/pkgs/development/libraries/g2o/default.nix
index 1486b5bfc55..909c504870f 100644
--- a/pkgs/development/libraries/g2o/default.nix
+++ b/pkgs/development/libraries/g2o/default.nix
@@ -1,4 +1,5 @@
-{ lib, stdenv, fetchFromGitHub, cmake, eigen, suitesparse }:
+{ lib, stdenv, fetchFromGitHub, cmake, eigen, suitesparse, libGLU, qt5
+, libsForQt5, makeWrapper }:
 
 stdenv.mkDerivation rec {
   pname = "g2o";
@@ -11,8 +12,33 @@ stdenv.mkDerivation rec {
     sha256 = "1rgrz6zxiinrik3lgwgvsmlww1m2fnpjmvcx1mf62xi1s2ma5w2i";
   };
 
-  nativeBuildInputs = [ cmake ];
-  buildInputs = [ eigen suitesparse ];
+  # Removes a reference to gcc that is only used in a debug message
+  patches = [ ./remove-compiler-reference.patch ];
+
+  separateDebugInfo = true;
+
+  nativeBuildInputs = [ cmake makeWrapper ];
+  buildInputs = [ eigen suitesparse libGLU qt5.qtbase libsForQt5.libqglviewer ];
+
+  cmakeFlags = [
+    # Detection script is broken
+    "-DQGLVIEWER_INCLUDE_DIR=${libsForQt5.libqglviewer}/include/QGLViewer"
+    "-DG2O_BUILD_EXAMPLES=OFF"
+  ] ++ lib.optionals stdenv.isx86_64 ([ "-DDO_SSE_AUTODETECT=OFF" ] ++ {
+    "default"        = [ "-DDISABLE_SSE3=ON" "-DDISABLE_SSE4_1=ON" "-DDISABLE_SSE4_2=ON" "-DDISABLE_SSE4_A=ON" ];
+    "westmere"       = [                                                                 "-DDISABLE_SSE4_A=ON" ];
+    "sandybridge"    = [                                                                 "-DDISABLE_SSE4_A=ON" ];
+    "ivybridge"      = [                                                                 "-DDISABLE_SSE4_A=ON" ];
+    "haswell"        = [                                                                 "-DDISABLE_SSE4_A=ON" ];
+    "broadwell"      = [                                                                 "-DDISABLE_SSE4_A=ON" ];
+    "skylake"        = [                                                                 "-DDISABLE_SSE4_A=ON" ];
+    "skylake-avx512" = [                                                                 "-DDISABLE_SSE4_A=ON" ];
+  }.${stdenv.hostPlatform.platform.gcc.arch or "default"});
+
+  postInstall = ''
+    wrapProgram $out/bin/g2o_viewer \
+      --prefix QT_PLUGIN_PATH : "${qt5.qtbase}/${qt5.qtbase.qtPluginPrefix}"
+  '';
 
   meta = {
     description = "A General Framework for Graph Optimization";
diff --git a/pkgs/development/libraries/g2o/remove-compiler-reference.patch b/pkgs/development/libraries/g2o/remove-compiler-reference.patch
new file mode 100644
index 00000000000..347c5780240
--- /dev/null
+++ b/pkgs/development/libraries/g2o/remove-compiler-reference.patch
@@ -0,0 +1,25 @@
+From b9bfed09e4e3c481b7eb36bee1ff4202ccf69dee Mon Sep 17 00:00:00 2001
+From: Ben Wolsieffer <benwolsieffer@gmail.com>
+Date: Fri, 17 May 2019 19:05:36 -0400
+Subject: [PATCH] Remove reference to compiler.
+
+---
+ CMakeLists.txt | 2 +-
+ 1 file changed, 1 insertion(+), 1 deletion(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index a3f66dd..bb05bd0 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -371,7 +371,7 @@ set(G2O_HAVE_CHOLMOD ${CHOLMOD_FOUND})
+ set(G2O_HAVE_CSPARSE ${CSPARSE_FOUND})
+ set(G2O_SHARED_LIBS ${BUILD_SHARED_LIBS})
+ set(G2O_LGPL_SHARED_LIBS ${BUILD_LGPL_SHARED_LIBS})
+-set(G2O_CXX_COMPILER "${CMAKE_CXX_COMPILER_ID} ${CMAKE_CXX_COMPILER}")
++set(G2O_CXX_COMPILER "${CMAKE_CXX_COMPILER_ID} unknown")
+ 
+ configure_file(config.h.in "${PROJECT_BINARY_DIR}/g2o/config.h")
+ install(FILES ${PROJECT_BINARY_DIR}/g2o/config.h DESTINATION ${INCLUDES_DESTINATION}/g2o)
+-- 
+2.21.0
+
diff --git a/pkgs/development/libraries/libqglviewer/default.nix b/pkgs/development/libraries/libqglviewer/default.nix
index e68c5052beb..34b396a7102 100644
--- a/pkgs/development/libraries/libqglviewer/default.nix
+++ b/pkgs/development/libraries/libqglviewer/default.nix
@@ -1,25 +1,25 @@
-{ stdenv, fetchurl, qt4, qmake4Hook, AGL }:
+{ stdenv, fetchurl, qmake, qtbase, libGLU, AGL }:
 
 stdenv.mkDerivation rec {
-  name = "libqglviewer-2.6.3";
-  version = "2.6.3";
+  pname = "libqglviewer";
+  version = "2.7.1";
 
   src = fetchurl {
     url = "http://www.libqglviewer.com/src/libQGLViewer-${version}.tar.gz";
-    sha256 = "00jdkyk4wg1356c3ar6nk3hyp494ya3yvshq9m57kfmqpn3inqdy";
+    sha256 = "08f10yk22kjdsvrqhd063gqa8nxnl749c20mwhaxij4f7rzdkixz";
   };
 
-  buildInputs = [ qt4 qmake4Hook ]
+  nativeBuildInputs = [ qmake ];
+  buildInputs = [ qtbase libGLU ]
     ++ stdenv.lib.optional stdenv.isDarwin AGL;
 
-  postPatch =
-    ''
-      cd QGLViewer
-    '';
+  postPatch = ''
+    cd QGLViewer
+  '';
 
   meta = with stdenv.lib; {
     description = "C++ library based on Qt that eases the creation of OpenGL 3D viewers";
-    homepage = http://libqglviewer.com/;
+    homepage = "http://libqglviewer.com";
     license = licenses.gpl2;
     platforms = platforms.all;
   };
diff --git a/pkgs/top-level/all-packages.nix b/pkgs/top-level/all-packages.nix
index 36fee4b9b3a..a6fb0ceaf18 100644
--- a/pkgs/top-level/all-packages.nix
+++ b/pkgs/top-level/all-packages.nix
@@ -11924,10 +11924,6 @@ in
 
   libplist = callPackage ../development/libraries/libplist { };
 
-  libqglviewer = callPackage ../development/libraries/libqglviewer {
-    inherit (darwin.apple_sdk.frameworks) AGL;
-  };
-
   libre = callPackage ../development/libraries/libre {};
   librem = callPackage ../development/libraries/librem {};
 
@@ -13147,6 +13143,10 @@ in
 
     libopenshot-audio = callPackage ../applications/video/openshot-qt/libopenshot-audio.nix { };
 
+    libqglviewer = callPackage ../development/libraries/libqglviewer {
+      inherit (darwin.apple_sdk.frameworks) AGL;
+    };
+
     libqtav = callPackage ../development/libraries/libqtav { };
 
     kpmcore = callPackage ../development/libraries/kpmcore { };