diff --git a/include/basalt/optical_flow/multiscale_frame_to_frame_optical_flow.h b/include/basalt/optical_flow/multiscale_frame_to_frame_optical_flow.h
index c3473e3..18aee95 100644
--- a/include/basalt/optical_flow/multiscale_frame_to_frame_optical_flow.h
+++ b/include/basalt/optical_flow/multiscale_frame_to_frame_optical_flow.h
@@ -200,7 +200,7 @@ class MultiscaleFrameToFrameOpticalFlow : public OpticalFlowBase {
           transform_map_1,
       const std::map<KeypointId, size_t>& pyramid_levels_1,
       Eigen::aligned_map<KeypointId, Eigen::AffineCompact2f>& transform_map_2,
-      std::map<KeypointId, size_t>& pyramid_levels_2) const {
+      std::map<KeypointId, size_t>& pyramid_levels_2, int64_t view_offset = 0) const {
     size_t num_points = transform_map_1.size();
 
     std::vector<KeypointId> ids;
@@ -229,13 +229,17 @@ class MultiscaleFrameToFrameOpticalFlow : public OpticalFlowBase {
 
         const Eigen::AffineCompact2f& transform_1 = init_vec[r];
         Eigen::AffineCompact2f transform_2 = transform_1;
+        transform_2.translation()(0) -= view_offset;
 
-        bool valid = trackPoint(pyr_1, pyr_2, transform_1, pyramid_level[r],
+        bool valid = transform_2.translation()(0) >= 0 &&
+                     transform_2.translation()(0) < pyr_2.lvl(pyramid_level[r]).w;
+        if (!valid) continue;
+
+        valid = trackPoint(pyr_1, pyr_2, transform_1, pyramid_level[r],
                                 transform_2);
-
         if (valid) {
           Eigen::AffineCompact2f transform_1_recovered = transform_2;
-
+          transform_1_recovered.translation()(0) += view_offset;
           valid = trackPoint(pyr_2, pyr_1, transform_2, pyramid_level[r],
                              transform_1_recovered);
 
@@ -392,7 +396,7 @@ class MultiscaleFrameToFrameOpticalFlow : public OpticalFlowBase {
 
       trackPoints(pyramid->at(0), pyramid->at(1), new_poses_main,
                   new_pyramid_levels_main, new_poses_stereo,
-                  new_pyramid_levels_stereo);
+                  new_pyramid_levels_stereo, calib.view_offset);
 
       for (const auto& kv : new_poses_stereo) {
         transforms->observations.at(1).emplace(kv);