I am trying to use [viso2_ros](http://wiki.ros.org/viso2_ros) . So I calibrated my stereo camera set.
Does the distance between the cameras matter much?Is this setup good enough?
 
The above are my calibration results.Is that fine? I didn't get any reprojection error as mention in this [post](http://answers.ros.org/question/202647/pose-going-up-and-constant-visual-odometry-got-lost-message/). It just showed `?` under `epi` . Is that okay.Around 180 samples were used in calibration.
Then I used `stereo_image_proc` package and then tried to optimize the [parameters](http://wiki.ros.org/stereo_image_proc/Tutorials/ChoosingGoodStereoParameters)
A few more disparity maps 
Are the disparity maps ok? Any suggestions on improving them? Is it okay to have grey background?
The following is the tf and rqt_graph 
Is that correct? My knowledge on tf is basic and limited as I am a beginner. The following is the launch file used to generate the tf tree.
cambase is nothing but the left camera as suggested in this [post](http://answers.ros.org/question/63071/viso2-camera-configuration/).
I also checked the `~info` topic messages of stereo odometer. the number of inlier's is very low i.e less than 10 and the number of matches is at max 25 . How do I improve upon it? I am always getting
Visual Odometer got lost!
even when the setup is at rest. How do I improve the inliers and get my system running? Are the things setup till now correct like the calibration and tf tree.
Configuration:
OS: Ubuntu 12.04
ROS distro: Hydro
Camera: [PS3 eyecamera](http://en.wikipedia.org/wiki/PlayStation_Eye) X 2
P.S: If anything is not clear please let me know. This my first post. I have also read the following posts before asking and tried to improve from those suggestions
1. [Post 1](http://answers.ros.org/question/119921/problem-with-viso2-visual-odometer-got-lost/)
2. [Post 2](http://answers.ros.org/question/62872/viso2_ros-shows-visual-odometer-got-lost/)
3. [Post 3](http://answers.ros.org/question/202647/pose-going-up-and-constant-visual-odometry-got-lost-message/)
4. [Post 4](http://answers.ros.org/question/63071/viso2-camera-configuration/)
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