Problem using RGBD Slam with Stereo [closed]

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Hi - I don't know why, but I have a problem running RGBD with a stereo setup. I have my own node to communicate with the Bumblebee and to extract a normal rgb-image and a PointCloud2 (both are published and look fine in Rviz). But now the problem.. every time I start RGBD-Slam it crash :/

I analysed the code.. it crash while converting PointCloud2 to PointCloud with pcl::fromROSMsg()

So I removed that line and tried to run RGBD-Slam to see if the rest works. But when I start processing the program does not search for features (or at least does not visualize them).

So what is going wrong? Thank you very much