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Hi, I am having the same issue. I found that libviso2 is giving the apparently correct delta_transform (in odometer_base.h). However, the output of

tf::Transform delta_base_transform = current_base_to_sensor_ * delta_transform * current_base_to_sensor_.inverse();

is zero, even though the right side of the equation seems valid. Am I not initializing something properly?

Thanks!

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