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Hi Christian

Thank you for you answer. It was a good hint , but in order to get ride of that error I have to do initialize the second constructor like this :

FOVISODOMETRY::FOVISODOMETRY(vector<string> cameraTopices, const string bagFileName, const char visual_odom_frame_name):image_sync_( ApproximateTimeCustomPolicy(10), camera_info_sub_, rgb_image_sub_, depth_image_sub_)*

but I still have one question : Although I don't use it in second constructor ,why should I initialize this message_filter::synchronizer ? would you please help me on this !

thanks in advance . Ramin

typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::CameraInfo, sensor_msgs::Image, sensor_msgs::Image> ApproximateTimeCustomPolicy; message_filters::Synchronizer<approximatetimecustompolicy> image_sync_;