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Hey! I suppose that assertion is failing due to the use of some uninitialized boost shared_ptr. Now, PCL internally uses boost shared_ptrs so, you might want to make sure all your PCL pointers are initialized too, like these

pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_aligned( new pcl::PointCloud<pcl::PointXYZ>() ); pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_src( new pcl::PointCloud<pcl::PointXYZ>() ); pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_tgt( new pcl::PointCloud<pcl::PointXYZ>() );

So try initializing these pointers using new and try recompiling your project and running again. It's always a good practice to initialize smart pointers right on declaration as specified in the following guide Boost Shared_ptr best practices

hope the advice helps!