viso2 gets lost unless in fast motion

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Hi I am trying to use viso2 ( https://github.com/srv/viso2 ) for visual odometry. I have the following setup:

• Kinect camera
• Openni driver ( https://github.com/ros-drivers/openni... )
• TF-Transform between base_link and kinect_link, so that it is in the optical frame
• Starting viso2 with https://github.com/ct2034/auckbot/blo...

The behavior that I am seeing is that most of the time the got_lost flag is set (in the /mono_odometer/info topic). And also the pose is not updated. But when I move the camera really fast, the flag changes for one frame or so and the pose changes.

Is this a problem of setup? But there doesn't seem to be a parameter that influences this.