Ubuntu 24.04 images for Axon already ship with Mesa and the Panfrost GPU driver, which provides OpenGL and the Mesa OpenCL implementation (Rusticl).
To compile and run OpenCL programs you only need to install the OpenCL ICD runtime and development headers.
sudo apt install opencl-headers ocl-icd-opencl-dev clinfo
# test the available platform with
clinfoTest the performance of 1024x1024 matrix multiplication on GPU and CPU.
gcc naive.c -o naive
./naive
Multiply 1024 X 1024: 29.9163sec
gcc naive_cl.c -o naive_cl -lOpenCL
./naive_cl
Multiply 1024 X 1024: 0.0459sec