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Stitcher calibration Assertion `!err.empty()' failed

Hi,

I am doing some real-time image stitching, using the Stitcher class. After starting the program, it runs for some time and then just exits with this message.

/tmp/buildd/ros-hydro-opencv2-2.4.6-3precise-20140303-2244/modules/calib3d/src/calibration.cpp:132: bool CvLevMarq::update(const CvMat*&, CvMat*&, CvMat*&): Assertion `!err.empty()' failed.

this is the part if the code where I call stitcher

cv::Stitcher st = cv::Stitcher::createDefault(false);
while (true) {
        cv::Stitcher::Status status = st.stitch(imgs, pano);
        if (status != cv::Stitcher::OK) continue;
        cv::imshow("stream", pano);
}

any help how could I avoid that, or at least explanation in which cases this assert fail