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The viso2_ros stereo_odometer prints this error when the call to VisualOdometryStereo::process() fails. This can have several reasons. If your cameras are not perfectly synchronized (e.g. through a trigger cable), you could try to relax the match_disp_tolerance threshold. If you subscribe to the stereo_odometer/point_cloud topic in rviz, you can see the 3D positions of the features that the stereo_odometer uses. There should be a fair amount of points.