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This documentation article suggests that version 3.0 has ICP:

http://docs.opencv.org/trunk/modules/...

I downloaded the 3_0_0 beta but could not find ICP. Any ideas?

The following code causes a problem:

vector<keypoint> keyPts;

GoodFeaturesToTrackDetector fd(...);

fd.detect(rROI, keyPts);

when keyPts goes out of scope.
Triggers a breakpoint due to invalid heap address. If I presize the vector prior to calling detect, then it seems to work fine but this defeats the purpose of using an stl container. I believe this is related to questions I have seen about the problem of passing stl containers across dll-exe memory boundaries. (http://stackoverflow.com/questions/10573130/implications-of-using-stdvector-in-a-dll-exported-function)

Any suggestions??