Make this package mrpt free ?
artivis opened this issue · comments
A quick look at the code let me think that this package depends on mrpt only for using a couple of matrix and two basic math functions.
Wouldn't it make sense to replace mrpt with plain Eigen types such as Eigen::Isometry3d thus removing a - heavy - dependency ? (Heavy regarding its use here...).
I made a mrpt-free branch on my fork. Replacing mrpt with plain Eigen.
Please let me know if you are interested in a pull request.
Hi artivis,
Hmmm what you point out may be interesting. We are used to work with MRPT so for us is not big deal to depend on MRPT, but i understand that it may not be the case for others.
So yes, make a pull request so we can test it.
Thanks!
Hi,
I wrote a plugin for rf2o (here) so that it can be used in the laser_odometry package.
Since the plugin depends on the pending PR #6 and #10, the plugin's README points to my fork in the meantime.
