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With a deep investigation into the source code of viso2, my colleague and I finally solved this issue by calling a service called resetPose. So basically, as soon as the node mono_odometer has been brought up, open a new terminal and type "rosservice call /mono_odometer/reset_pose". For more information, please refer to the reset_pose service callback function which is in odometer_pose.h file. Hope this answer will help those who have the same issue as stated above.