Not enough features or parallex problem

[jinyummiao]

Hi, Thanks for sharing your remarkable work!
I want to run the RP-VIO algorithm on KAIST urban dataset, which is a highway scene, and i segmented road only. However, the code throws warnings "No enough features or parallex; Move device around" all the time as following screenshot, and the output of the system is an empty "*.csv" file. Could you give me some advices to fix such problems?

Looking forward to your reply!

[karnikram]

Hi,

This error occurs when the visual SfM fails to initialize i.e. the system is not able to find a reasonable initial H matrix between any two frames in your sequence (code). This is most likely to happen because of poor feature tracking. I am not completely sure why this is happening in your sequence but it would be interesting to investigate.