I tracked the clustering bug down to line 680 of odufinder.cpp: delete[] points[i]; Commenting it out does not pose any apparent problem. Moreover, points are being deleted just after the loop. Was it a mistake from your side of is it mine? Raph -- View this message in context: http://ros-users.122217.n3.nabble.com/Object-recognition-positioning-package-tp2399294p2451664.html Sent from the ROS-Users mailing list archive at Nabble.com.