diff --git a/source/RobotAPI/components/FamiliarObjectDetectionExample/FamiliarObjectDetectionExample.cpp b/source/RobotAPI/components/FamiliarObjectDetectionExample/FamiliarObjectDetectionExample.cpp
index 9692bbd464fa57d8f9b1a332a2a5d274e594694c..08d848d49fd6ae7e791e093545f137d7e51e198a 100644
--- a/source/RobotAPI/components/FamiliarObjectDetectionExample/FamiliarObjectDetectionExample.cpp
+++ b/source/RobotAPI/components/FamiliarObjectDetectionExample/FamiliarObjectDetectionExample.cpp
@@ -122,15 +122,15 @@ namespace armarx::familiar_objects
 
         // familiarObject.bounding_box =
 
-        familiarObject.depth_image_patch = cv::Mat1f(cv::Size(20, 20));
-        familiarObject.rgb_image_patch = cv::Mat3b(cv::Size(20, 20));
+        // familiarObject.depth_image_patch = cv::Mat1f(cv::Size(20, 20));
+        // familiarObject.rgb_image_patch = cv::Mat3b(cv::Size(20, 20));
 
         const int numPoints = 100;
 
         // x in red
         for (int i = 0; i < numPoints; i++)
         {
-            pcl::PointXYZRGB point;
+            pcl::PointXYZRGBA point;
             point.x = static_cast<float>(i) - numPoints / 2;
             point.y = 0;
             point.z = 0;
@@ -143,7 +143,7 @@ namespace armarx::familiar_objects
         // y in green
         for (int i = 0; i < numPoints; i++)
         {
-            pcl::PointXYZRGB point;
+            pcl::PointXYZRGBA point;
             point.x = 0;
             point.y = static_cast<float>(i) - numPoints / 2;
             point.z = 0;
@@ -156,7 +156,7 @@ namespace armarx::familiar_objects
         // z in blue
         for (int i = 0; i < numPoints; i++)
         {
-            pcl::PointXYZRGB point;
+            pcl::PointXYZRGBA point;
             point.y = 0;
             point.y = 0;
             point.z = static_cast<float>(i) - numPoints / 2;
diff --git a/source/RobotAPI/libraries/armem_objects/aron/FamiliarObjectInstance.xml b/source/RobotAPI/libraries/armem_objects/aron/FamiliarObjectInstance.xml
index 10ce6116c28f3220f8ebd04e5509afbc2a1d414c..c583f1eedb1e774dd189c7298d9c0ec921f4a58a 100644
--- a/source/RobotAPI/libraries/armem_objects/aron/FamiliarObjectInstance.xml
+++ b/source/RobotAPI/libraries/armem_objects/aron/FamiliarObjectInstance.xml
@@ -43,7 +43,7 @@ Core segment type of Object/Instance.
             (or aggregated?) -->
             <!-- Relative to poseSensFrame -->
             <ObjectChild key="points">
-                <PointCloud type="PointXYZRGB" />
+                <PointCloud type="PointXYZRGBA" />
             </ObjectChild>
 
             <!-- bounding box in the image -->
@@ -57,16 +57,16 @@ Core segment type of Object/Instance.
             </ObjectChild>
 
             <!-- cropped RGB image (based on bounding_box_img) -->
-            <ObjectChild key='rgb_image_patch'>
-                <Image type="rgb24" />
+            <!-- <ObjectChild key='rgb_image_patch'> -->
+                <!-- <Image type="rgb24" /> -->
                 <!-- <Image type="rgb24" optional="true"/> -->
-            </ObjectChild>
+            <!-- </ObjectChild> -->
 
             <!-- cropped depth image (based on bounding_box_img) -->
-            <ObjectChild key='depth_image_patch'>
-                <Image type="depth32" />
+            <!-- <ObjectChild key='depth_image_patch'> -->
+                <!-- <Image type="depth32" /> -->
                 <!-- <Image type="depth32" optional="true"/> -->
-            </ObjectChild>
+            <!-- </ObjectChild> -->
 
             <!-- reference for the source image (pair) -->
             <ObjectChild key="imageSourceID">
diff --git a/source/RobotAPI/libraries/aron/common/rw/eigen.h b/source/RobotAPI/libraries/aron/common/rw/eigen.h
index 7cf56de94f1ecf81937bc2729f3b664d597e4866..fee5d0f9f2e3e2b3f645b1192024f0bb3e8cc18b 100644
--- a/source/RobotAPI/libraries/aron/common/rw/eigen.h
+++ b/source/RobotAPI/libraries/aron/common/rw/eigen.h
@@ -27,8 +27,8 @@ namespace armarx
             aron_r.readNDArray(input, shape, typeAsString, data);
 
             std::stringstream ss;
-            ss << "Received wrong dimensions for matrix member. Dimensions are " << shape.at(0)
-               << "," << shape.at(1) << " but should be " << ret.rows() << "/" << ret.cols();
+            ss << "Received wrong dimensions for matrix member. Dimensions are (" << shape.at(0)
+               << "," << shape.at(1) << ") but should be (" << ret.rows() << "," << ret.cols() << ").";
 
             ARMARX_CHECK_AND_THROW(
                 typeAsString == TypeName<EigenT>::Get(),