Markus Vieth

@muneeb127 Can you put the ESFEstimation object into an extra scope, like this: ```cpp { pcl::ESFEstimation esf; esf.setInputCloud(object); esf.compute(*descriptor); } std::cout

@muneeb127 My best guess is that [one of the two members of ESFEstimation](https://github.com/PointCloudLibrary/pcl/blob/master/features/include/pcl/features/esf.h#L131) causes a crash when ESFEstimation is destroyed after the members are filled in `esf.compute(...)`. Can you run...

Can you post the command line options that are given to your compiler? For example, if you invoke `make` as `make VERBOSE=1`, it will print the exact compiler and linker...

You pass `cloud2` to `esf2`, but you don't fill `cloud2`. You fill `cloud` when reading the PCD file. That is why you see `input_ is empty!` Then try `cmake --build...

> I tried ` cmake --build . --verbose` but nothing changed. The program crashes after the first file. @muneeb127 That was not meant to fix the problem, only to display...

@muneeb127 Maybe try `GASDEstimation` instead of `ESFEstimation` (see also https://pcl.readthedocs.io/projects/tutorials/en/master/gasd_estimation.html ). Whether that works or doesn't work might give us more information about the problem.

> I tried computing the GASD Estimation but there seems to be an issue with the `getTransform()` function Looks like there is a mistake in the tutorial, the line should...

I had the chance to test this under Windows with the 1.13.1 all-in-one installer, and I could reproduce the access violation error when the `pcl::ESFEstimation` object is destroyed (more precisely,...

I (Ubuntu 23.04, VTK 9.1.0) see the same as Lars. So yes, possibly only a problem on macos. @themightyoarfish Can you maybe try to shuffle or reverse `correspondences`, to check...

@themightyoarfish I rewrote addCorrespondences as a VTK-only test program: [vtktest.txt (rename to vtktest.cpp)](https://github.com/PointCloudLibrary/pcl/files/12194280/vtktest.txt) [CMakeLists.txt](https://github.com/PointCloudLibrary/pcl/files/12194281/CMakeLists.txt) It should display a whole circle (for me it does). You could test what you see,...