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It seems that you do not pass any camera calibration information to libviso2. Your parameters struct should set focal length and the principal point coordinates.

If you want to use libviso2 directly (without the ROS wrapper), please see the demo file (src/demo.cpp) for an example. If you want to use the ROS wrapper, you should use the mono_odometer node which uses incoming CameraInfo messages to pass the right parameters to libviso2.

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