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@@ -0,0 +1,106 @@
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+diff --git a/registration/include/pcl/registration/correspondence_rejection_features.h b/registration/include/pcl/registration/correspondence_rejection_features.h
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+index 44835c379..f3bab8fef 100644
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+--- a/registration/include/pcl/registration/correspondence_rejection_features.h
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++++ b/registration/include/pcl/registration/correspondence_rejection_features.h
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+@@ -269,9 +269,9 @@ protected:
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+ // Check if the representations are valid
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+ if (!feature_representation_->isValid(feat_src) ||
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+ !feature_representation_->isValid(feat_tgt)) {
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+- PCL_ERROR("[pcl::registration::%s::getCorrespondenceScore] Invalid feature "
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+- "representation given!\n",
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+- this->getClassName().c_str());
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++ PCL_ERROR(
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++ "[pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer::"
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++ "getCorrespondenceScore] Invalid feature representation given!\n");
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+ return (std::numeric_limits<double>::max());
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+ }
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+
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+diff --git a/surface/include/pcl/surface/3rdparty/poisson4/octree_poisson.hpp b/surface/include/pcl/surface/3rdparty/poisson4/octree_poisson.hpp
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+index 7ed8aaf9d..e7f45b650 100644
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+--- a/surface/include/pcl/surface/3rdparty/poisson4/octree_poisson.hpp
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++++ b/surface/include/pcl/surface/3rdparty/poisson4/octree_poisson.hpp
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+@@ -746,7 +746,10 @@ namespace pcl
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+ Real temp,dist2;
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+ if(!children){return this;}
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+ for(int i=0;i<Cube::CORNERS;i++){
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+- temp=SquareDistance(children[i].center,p);
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++ Point3D<Real> child_center;
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++ Real child_width;
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++ children[i].centerAndWidth(child_center, child_width);
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++ temp=SquareDistance(child_center,p);
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+ if(!i || temp<dist2){
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+ dist2=temp;
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+ nearest=i;
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+@@ -807,7 +810,7 @@ namespace pcl
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+ children=NULL;
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+
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+ d=node.depth ();
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+- for(i=0;i<DIMENSION;i++){this->offset[i] = node.offset[i];}
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++ for(i=0;i<DIMENSION;i++){this->off[i] = node.off[i];}
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+ if(node.children){
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+ initChildren();
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+ for(i=0;i<Cube::CORNERS;i++){children[i] = node.children[i];}
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+@@ -817,7 +820,7 @@ namespace pcl
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+
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+ template <class NodeData,class Real>
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+ int OctNode<NodeData,Real>::CompareForwardDepths(const void* v1,const void* v2){
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+- return ((const OctNode<NodeData,Real>*)v1)->depth-((const OctNode<NodeData,Real>*)v2)->depth;
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++ return ((const OctNode<NodeData,Real>*)v1)->depth()-((const OctNode<NodeData,Real>*)v2)->depth();
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+ }
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+
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+ template< class NodeData , class Real >
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+@@ -874,7 +877,7 @@ namespace pcl
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+
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+ template <class NodeData,class Real>
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+ int OctNode<NodeData,Real>::CompareBackwardDepths(const void* v1,const void* v2){
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+- return ((const OctNode<NodeData,Real>*)v2)->depth-((const OctNode<NodeData,Real>*)v1)->depth;
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++ return ((const OctNode<NodeData,Real>*)v2)->depth()-((const OctNode<NodeData,Real>*)v1)->depth();
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+ }
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+
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+ template <class NodeData,class Real>
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+diff --git a/surface/include/pcl/surface/3rdparty/poisson4/sparse_matrix.hpp b/surface/include/pcl/surface/3rdparty/poisson4/sparse_matrix.hpp
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+index 24f0a5402..5e54ac786 100644
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+--- a/surface/include/pcl/surface/3rdparty/poisson4/sparse_matrix.hpp
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++++ b/surface/include/pcl/surface/3rdparty/poisson4/sparse_matrix.hpp
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+@@ -228,14 +228,18 @@ namespace pcl
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+ template<class T>
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+ void SparseMatrix<T>::SetZero()
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+ {
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+- Resize(this->m_N, this->m_M);
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++ // copied from operator *=
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++ for (int i=0; i<rows; i++)
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++ {
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++ for(int ii=0;ii<rowSizes[i];ii++){m_ppElements[i][ii].Value=T(0);}
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++ }
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+ }
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+
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+ template<class T>
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+ void SparseMatrix<T>::SetIdentity()
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+ {
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+ SetZero();
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+- for(int ij=0; ij < Min( this->Rows(), this->Columns() ); ij++)
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++ for(int ij=0; ij < std::min<int>( rows, _maxEntriesPerRow ); ij++)
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+ (*this)(ij,ij) = T(1);
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+ }
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+
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+@@ -388,7 +392,7 @@ namespace pcl
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+ T alpha,beta,rDotR;
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+ int i;
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+
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+- solution.Resize(M.Columns());
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++ solution.Resize(bb.Dimensions());
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+ solution.SetZero();
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+
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+ d=r=bb;
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+diff --git a/visualization/include/pcl/visualization/impl/registration_visualizer.hpp b/visualization/include/pcl/visualization/impl/registration_visualizer.hpp
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+index 884735e4a..83d63906d 100644
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+--- a/visualization/include/pcl/visualization/impl/registration_visualizer.hpp
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++++ b/visualization/include/pcl/visualization/impl/registration_visualizer.hpp
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+@@ -39,6 +39,7 @@
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+ #pragma once
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+
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+ #include <thread>
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++#include <chrono>
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+
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+
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+ namespace pcl
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icysky