Markus Vieth

As a workaround, you can try adding `-DPCL_ENABLE_SSE=OFF` here: https://github.com/microsoft/vcpkg/blob/1c5cac4b68933f25cdd953b7e2697d13d91ebda6/ports/pcl/portfile.cmake#L52

> It works now, thanks 👍🎉 Maybe we should add SSE as an option that can be turned off in vcpkg... Sure, that wouldn't hurt. But we should also check...

Have you considered switching to `pcl::PointXYZRGBA` (which is instantiated), or defining `PCL_NO_PRECOMPILE` in your program? I will take a look why you seemingly cannot set `PCL_ONLY_CORE_POINT_TYPES` to false

The define is added [here](https://github.com/PointCloudLibrary/pcl/blob/master/CMakeLists.txt#L147), no matter if the CMake option is set to true or false. We could change that, but yes, apparently it is impossible to compile PCL...

> So we could try to split the dll into multiple ones That seems like it would be quite difficult and could cause a lot of problems > We could...

- Which operating system do you use? - Which PCL version do you use? How did you install it? - Which compiler do you use?

For normal estimation, invalid points should not be a problem. The normal for an invalid point will simply be (NaN, NaN, NaN). And `addPointCloudNormals` also checks whether point and normal...

> I noticed that if I use BilateralFilter on this point cloud, if the invalid points are not removed, the program will report an error. Is this a feature of...

@mawenwuda Sorry, I am having difficulties interpreting your modifications. Could you explain, what exactly does not work currently? If you could provide an example where you call GICP, and show...

> While reading the source code of the computeTransformation function in the gicp.hpp file, I encountered some issues that I couldn't understand @mawenwuda But have you tried running GICP? I...