#include <Eigen/Core>
#include <unsupported/Eigen/AutoDiff>

using namespace Eigen;

int main() {
  static const int num_derivs = 73; // crashes for some values
//  typedef AutoDiffScalar<VectorXd> ADScalar; // is fine
  typedef AutoDiffScalar<Matrix<double, num_derivs, 1>> ADScalar; // causes crash

  Matrix<ADScalar, 3, 3> R;
  R.setIdentity();
  for (int i = 0; i < R.size(); i++) {
    R(i).derivatives().setRandom(num_derivs);
  }
  Matrix3Xd p = Matrix3Xd::Random(3, 64); // number of columns matters
  Matrix<ADScalar, 3, Dynamic> p_transformed = R * (p.cast<ADScalar>()).eval(); // crash happens here

  return 0;
}