Markus Vieth

Would it be possible that you run the tests again with the latest master branch? I recently made [a change](https://github.com/PointCloudLibrary/pcl/commit/f1a5291d7f9bf10ffed9921ef267a93f871df446) that might already fix the test_non_linear. Regarding common_pca, I will...

@StefanBruens Sorry for the late response. I relaxed the error threshold for the common_pca test in https://github.com/PointCloudLibrary/pcl/pull/5322 Yes, the (rare) spurious failures of `a_octree_test` are a known issue. They are...

I hope the tests now all run successfully. Otherwise feel free to comment or open a new issue.

I don't fully understand the problem yet, especially how your last comment relates to the changes you have made. Considering that `searchForNeighbors` [searches in `input_`](https://github.com/PointCloudLibrary/pcl/blob/master/keypoints/include/pcl/keypoints/keypoint.h#L159), isn't it correct that `nn_indices`...

Ah yes, you are right, `searchForNeighbors` is [searching in `surface_`](https://github.com/PointCloudLibrary/pcl/blob/master/keypoints/include/pcl/keypoints/impl/keypoint.hpp#L70). So your change in line 194 looks correct to me. But the problem in lines 431, 440, ... you are...

Sounds generally reasonable, but I have some doubts how much sense this makes in the (ISS) keypoint selection: in the scenario you @pmdifran are describing, you would have a full...

> My overall concern is that ISSKeypoints doesn't really support everything that the keypoints API promises. I am not super familiar with the keypoints module, but it could be possible...

Could you add a test in test_iss_3d.cpp to verify that your changes are correct?

PR #4962 will add the macro `PCL_MAKE_ALIGNED_OPERATOR_NEW` to CropBox (will be merged after PCL 1.12.1 is released)

@HariVamsiK Great that you want to contribute to PCL! However, someone else is already working on this issue. Maybe you would like to take a look at these other issues:...