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This seems to have many new dependency requirements, have you been able to get it to build and run? If so, what improvements are added? |
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I took a look to the change and I do definitively endorse to split the code in smaller functions with a readable name which clearly express the intent of the code. I suggest @laboshinl to cherry pick here and there some changes to clean up his code. By the way, Eigen is NOT a new dependency, since PCL already requires it. |
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@laboshinl if we split this big PR in smaller one that you can review more easily, will you accept them? |
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