Make this package mrpt free ?

[artivis]

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...).

[artivis]

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.

[JGMonroy]

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!

[artivis]

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.

[lucbettaieb]

@JGMonroy Have you considered the PR @artivis made? It's good looking.