PCL tracker hanged

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PCL tracker hanged

Jaume
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Hello,

I am properly setting .pcd file target, getting pointCloud from sensor and its downsampled pointCloud (about 40000 points but also tried with less). However, once executing tracker_->compute(); viewer is hanged and also debugger keeps waiting without throwing any error.
Pcd has 1.92Mb, proper format and segmented... Any idea about which could be the problem? Thank you.

tracker_->setInputCloud(cloud_pass_downsampled_);
tracker_->compute();