cv::perspectiveTransform Assertion failed

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Hi, i am attempting to get the rgbdodometry sample running with opencv 3.

I have rebuilt with the contrib modules, as documented here:

https://github.com/Itseez/opencv_contrib

and after adjusting a few lines (adding the rgbd namespace, as outlined in the docs for open 3)

I have everything linked. Now though, I am getting an exception error here:

static void warpImage(const Mat& image, const Mat& depth, const Mat& Rt, const Mat& cameraMatrix, const Mat& distCoeff, Mat& warpedImage)

perspectiveTransform(cloud, transformedCloud, Rt);

Assertion failed <scn +="" 1="=" m.cols=""> in cv::perspectiveTransform. file matmul.cpp, line 2125

It seems like the Rt Mat stays emtpy, where perspectiveTransform expects a 3 x 3. I am using the code from the sample, and the images from the sample folder.

What is going on here? And how could I fix it?

thanks!