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It seems that you do not use rectified images. Please calibrate your camera and make sure the camera driver pubishes the accurate CameraInfo messages. Then let mono_odometer subscribe to <your camera>/image_rect. If you still have problems, please modify your question to include the full console output of mono_odometer.

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Added image_ proc ref

It seems that you do not use rectified images. Please calibrate your camera and make sure the camera driver pubishes the accurate CameraInfo messages. messages. Run image_proc in the camera's namespace to generate rectified images from your raw input. Then let mono_odometer subscribe to <your camera>/image_rect. If you still have problems, please modify your question to include the full console output of mono_odometer.