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From what I see and what you commented, there are not enough inliers in your sequence. This can be caused by several issues.

The first issue you should solve is to remove the black border in the images. This rectangle appeared due to rectification. If I remember well, there's a slider in the calibration process where you can make this border dissapear.

The second issue is the speed. The faster you compute odometry, the less movement appears in the images. Viso2 expects high to normal framerates. It uses simple features not intended for high displacements. So try to resize your rectified images to something more handy. For example, half of the resolution. For that you can use camera bining, or software resize.

In image proc there's a tool for that. See [this launchfile].(https://github.com/srv/fugu_configurations/blob/indigo/launch/common/stereo_crop_decimate.launch)

And finally, if that is not enough, you may have to touch the parameters, but it's unusual.

From what I see and what you commented, there are not enough inliers in your sequence. This can be caused by several issues.

The first issue you should solve is to remove the black border in the images. This rectangle appeared due to rectification. If I remember well, there's a slider in the calibration process where you can make this border dissapear.

The second issue is the speed. The faster you compute odometry, the less movement appears in the images. Viso2 expects high to normal framerates. It uses simple features not intended for high displacements. So try to resize your rectified images to something more handy. For example, half of the resolution. For that you can use camera bining, or software resize.

In image proc there's a tool for that. See [this launchfile].(https://github.com/srv/fugu_configurations/blob/indigo/launch/common/stereo_crop_decimate.launch) this launchfile.

And finally, if that is not enough, you may have to touch the parameters, but it's unusual.