ERROR with viso2_ros package: Cannot get submatrix [3..3] x [0..-1] of a (0x0) matrix

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Hi everybody, I'm testing viso2_ros package( http://www.ros.org/wiki/viso2_ros# ). I've built a simple application (see below) that take an image of 640x480pixel@BGR format,24depth and try to estimate mono visual odometry.

#include "MonocularOdometry.hpp"
using namespace cv_bridge;
using namespace std;

using namespace sensor_msgs::image_encodings;
VisualOdometryMono *inner_viso;
int32_t dims[3]={0,0,3};//width,height,bytes per pixel
Matrix pose = Matrix::eye(4);
void imageCallback(const sensor_msgs::ImageConstPtr& imageMsg){
    CvImageConstPtr openCvImage = toCvShare(imageMsg,"bgr8");
    IplImage ipl(openCvImage.get()->image);
    if(dims[0]==0){
        dims[0]=openCvImage.get()->image.cols;
        dims[1]=openCvImage.get()->image.rows;
        dims[2]=openCvImage.get()->image.cols*3;
        cout << "dims: "<< dims[0]<<"x"<<dims[1]<< ", " <<dims[2]<<"bpl"<< endl;
    }

    if (inner_viso->process(openCvImage.get()->image.data,&dims[0],false)){
        // on success, update current pose
        pose = pose * Matrix::inv(inner_viso->getMotion());
        // output some statistics
        double num_matches = inner_viso->getNumberOfMatches();
        double num_inliers = inner_viso->getNumberOfInliers();
        cout << ", Matches: " << num_matches;
        cout << ", Inliers: " << 100.0*num_inliers/num_matches << " %" << ", Current pose: " << endl;
    } else {
        cout << " ... failed!" << endl;
    }

}
int main(int argc, char **argv) {
    ros::init(argc, argv, "monocular_visual_odometry");
    ros::NodeHandle nodeHandle;

    VisualOdometryMono::parameters param;
    param.height           = 0.555;//55.5cm
    param.pitch            = -0.523598776;//-30degree
    param.ransac_iters     = 2000;
    param.inlier_threshold = 0.00001;
    param.motion_threshold = 100.0;
    inner_viso=new VisualOdometryMono(param);

    image_transport::ImageTransport it(nodeHandle);
    image_transport::Subscriber sub = it.subscribe("image_topic", 1, imageCallback);


    ros::spin();

    return 0;
}

When I execute it I get the following error:

ERROR: Cannot get submatrix [3..3] x [0..-1] of a (0x0) matrix

This error comes from Matrix::getMat(declared in libviso2/libviso2/src/matrix.cpp) this last is called by VisualOdometryMono::estimateMotion. Can anyone help me to fix it? Regards