diff --git a/src/machinevisiontoolbox/BundleAdjust.py b/src/machinevisiontoolbox/BundleAdjust.py
index 67b41f28..fae5d2ce 100644
--- a/src/machinevisiontoolbox/BundleAdjust.py
+++ b/src/machinevisiontoolbox/BundleAdjust.py
@@ -405,7 +405,8 @@ def add_projection(
 
             :seealso: :meth:`add_view` :meth:`add_landmark`
             """
-            assert len(uv) == 2, "uv must be a 2-vector"
+            if len(uv) != 2:
+                raise ValueError("uv must be a 2-vector")
 
             edge = Observation(viewpoint, landmark, uv.flatten())  # create edge object
             e = viewpoint.connect(landmark, edge=edge)  # connect nodes with it
diff --git a/src/machinevisiontoolbox/Camera.py b/src/machinevisiontoolbox/Camera.py
index 9be5c404..e7c76e98 100644
--- a/src/machinevisiontoolbox/Camera.py
+++ b/src/machinevisiontoolbox/Camera.py
@@ -350,7 +350,8 @@ def nu(self) -> int:
 
         :seealso: :meth:`nv` :meth:`width` :meth:`imagesize`
         """
-        assert self._imagesize is not None, "imagesize not set"
+        if self._imagesize is None:
+            raise ValueError("imagesize not set")
         return self._imagesize[0]
 
     @property
@@ -370,7 +371,8 @@ def nv(self) -> int:
 
         :seealso: :meth:`nu` :meth:`height`  :meth:`imagesize`
         """
-        assert self._imagesize is not None, "imagesize not set"
+        if self._imagesize is None:
+            raise ValueError("imagesize not set")
         return self._imagesize[1]
 
     @property
@@ -390,7 +392,8 @@ def width(self) -> int:
 
         :seealso: :meth:`nu` :meth:`height`
         """
-        assert self._imagesize is not None, "imagesize not set"
+        if self._imagesize is None:
+            raise ValueError("imagesize not set")
         return self._imagesize[0]
 
     @property
@@ -410,7 +413,8 @@ def height(self) -> int:
 
         :seealso: :meth:`nv` :meth:`width`
         """
-        assert self._imagesize is not None, "imagesize not set"
+        if self._imagesize is None:
+            raise ValueError("imagesize not set")
         return self._imagesize[1]
 
     @property
diff --git a/src/machinevisiontoolbox/Sources.py b/src/machinevisiontoolbox/Sources.py
index 5de72c67..7b05484f 100644
--- a/src/machinevisiontoolbox/Sources.py
+++ b/src/machinevisiontoolbox/Sources.py
@@ -2348,7 +2348,7 @@ def _pointcloud_to_ros_message(
                 "Install it with: pip install open3d "
                 "or pip install machinevision-toolbox-python[open3d]"
             )
-            assert o3d is not None
+        assert o3d is not None
 
         points = np.asarray(pc._pcd.points)
         if points.ndim != 2 or points.shape[1] != 3: