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vslam node crashes after some time .

I am running vslam on a stereo image data set , i am sending the 4 topics synchronously and also all the images are rectified and undistorted .I can see the camera trajectory and the point cloud in rviz . but i have these 2 problems :

  1. The point cloud in rviz shows some random trajectory of camera somewhere in between .

  2. And after sometime the vslam node crashes saying. [Stereo VO] Inliers: 77 Nodes: 24 Points: 2484 [NormRot] Bad quaternion: -nan -nan -nan -nan