i am trying to run vslam_system[mono] on my video stream everything seems to go fine, but when the images are published on mono_vslam_node for processing , i get this , i guess the error has something to do Pose-estimator , can anybody provide me the solution to get rid of this error . process[mono_vslam_node-2]: started with pid [3244] process[vo_tracks_view-3]: started with pid [3245] [OK] Loaded RTC, quantization=4 bits [OK] RTC: overall 24816/9011200 (0.275%) zeros in float leaves overall 464923/9011200 (5.159%) zeros in uint8 leaves [INFO] [1308495150.180861213]: In callback, seq = 12 [INFO] [1308495150.704369647]: In callback, seq = 28 called PoseEstimator2d::estimate for frames 0 and 1 Number of points: 2224, number of matches: 1313 extractPnPData: frame1.pts.size() = 2224 extractPnPData: good points 0 Running SFM Final error: 74.159839 Dumping SFM returned r -0.000004 0.000117 0.000001 Dumping SFM return T -0.458278 -0.118424 -3.801803 The number of epipolar inliers: 1164 1164 points before filtering 612 points left after filtering sba got 612 points Node projection matrix 786.36 0 311.642 -0 0 787.335 250.515 -0 0 0 1 -0 Node projection matrix 786.323 -0.00216096 311.735 -1545.17 -0.0284843 787.334 250.518 -1045.65 -0.000117487 -3.89499e-06 1 -3.8018 Added 612 points, 612 tracks sba.tracks.size = 612 mono_vslam_node: /opt/ros/diamondback/stacks/geometry/eigen/include/Eigen/src/Core/Assign.h:510: Derived& Eigen::DenseBase::lazyAssign(const Eigen::DenseBase&) [with OtherDerived = Eigen::CwiseUnaryOp, const Eigen::Block, -0x00000000000000001, 1, false, true> >, Derived = Eigen::Matrix]: Assertion `rows() == other.rows() && cols() == other.cols()' failed. [mono_vslam_node-2] process has died [pid 3244, exit code -6]. log files: /home/rajat/.ros/log/46362692-9a80-11e0-b777-0024216e1c6f/mono_vslam_node-2*.log why is the good points 0 and i can't understand what this line is trying to say /opt/ros/diamondback/stacks/geometry/eigen/include/Eigen/src/Core/Assign.h:510: Derived& Eigen::DenseBase::lazyAssign(const Eigen::DenseBase&) [with OtherDerived = Eigen::CwiseUnaryOp, const Eigen::Block, -0x00000000000000001, 1, false, true> >, Derived = Eigen::Matrix]: Assertion `rows() == other.rows() && cols() == other.cols()' failed. and the log file does not have a entry related to this error . I posted the same thing on answer.ros.org but got no response :( ,so i am now trying here . -- Rajat Goyal gyl.rajat@gmail.com ah6,227 Bits Pilani Goa , India