How to run with data recorded using our own device?

[raj-gandhi-in]

I have recorded image data, depth maps data and IMU data using my device. Have synchronized the data and converted it to ROS bag format to feed it to the pipe line but the pipeline keeps failing telling that there not enough features that can be detected (even tough I have scanned a very texture rich area and I am able to externally detect a lot of keypoints) and that the IMU has a lot of jerk (even tough I am moving at a very steady pace). The data recorded is my moving in a straight line and I want to predict that path.