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weigao95 / surfelwarp

SurfelWarp: Efficient Non-Volumetric Dynamic Reconstruction
https://sites.google.com/view/surfelwarp/home
BSD 3-Clause "New" or "Revised" License
276 stars 71 forks source link

Get rid of PCL dependency #4

Closed Algomorph closed 5 years ago

Algomorph commented 5 years ago

This is, in a sense, a feature request, or, to be more exact, an enhancement request.

PCL's versions are not very backward-compatible, and building just the right PCL with just the right feature support means messing with the dependency hell so very inherent to PCL.

To give some idea, just to deal with the old PCL version + support for only the older version of CUDA already took me over six hours to resolve, and I'm not done yet.

My recommendation is to keep this issue open even if the maintainers decide they don't want to address this right now. Maybe, someone will come up with a PR, IDK.

weigao95 commented 5 years ago

Yeah, the code is developed when CUDA 9 is the latest. PCL is used mainly for debug visualization and it might worth to keep it only in ${project_root}/visualization and mark as optional.

I will take a look after the ICRA deadline and you are very welcomed to come up with a PR if you want.

weigao95 commented 5 years ago

Thanks for your work, that's great! I will test it on my machine.