Building surfelwarp with PCL has been tested on Visual Studio 2015 with CUDA 9.2 and cmake 3.9.6. Note that CUDA 10 and higher versions are not compatible with PCL and won't work. CUDA and cmake can be installed from their official websites. The community version of Visual Studio is sufficient. OpenCV can be downloaded from the official website as a prebuilt-binaries-and-header package and extracted to a location of your choosing.
This code and all its dependencies MUST be built in 64 bit. In other words, you should select the Win64 (or, for later CMake versions, x64) generator in cmake.
The build-and-installation procedures for PCL, and GLFW are very similar. All of these packages are managed by CMake and you can follow the standard procedure to generate the Visual Studio solution. After solution generation, open it in Visual Studio running as an administrator (right-click the VS icon and choose Run as administrator). You can then build and install the package using the INSALL project inside the solution. The standard configuration of these packages should be sufficient, although some debug code might require the GPU support of PCL.
Now you are ready to build this repo. To tell CMake where to find the dependencies, you can set PCL_DIR to the location of PCLConfig.cmake on disk, and likewise for glfw3_DIR, OpenCV_DIR, and/or any other dependencies. Alternatively, add these as permanent environment variables to simplify future builds. After that, just follow the standard CMake and Visual Studio workflow to build this repo.