rtabmap barely finds features in simulated stereo image

I am using `rtabmap_ros` with a simulated stereo camera in gazebo, but I am struggeling to get the `stereo_odometry` node computing any transformation. The problem is that too few (mostly not even one) features are found in my camera images. Which is confusing me, since my own implementation of GFTT finds plenty of features in the same images. Am I getting anything wrong? Are there more requirements on the visual features for rtabmap for visual odometry? Considering the following setup, where I am using GFTT feature detector: The output of `rostopic echo /odom_info` says, I get a total amount of 2 recognized features in a particular scene (see attached image below): --- header: seq: 387 stamp: secs: 1615 nsecs: 663000000 frame_id: odom lost: True matches: 2 inliers: 0 variance: 0.0 features: 0 localMapSize: -1 timeEstimation: 0.00351881980896 timeParticleFiltering: 4.57832234264e-41 stamp: 1615.66296387 interval: 0.10000000149 distanceTravelled: 0.0 type: 1 wordsKeys: [] wordsValues: [] wordMatches: [] wordInliers: [] refCorners: - x: 599.0 y: 419.0 - x: 602.0 y: 421.0 newCorners: - x: 323.645477295 y: 419.167877197 - x: 332.146850586 y: 421.871734619 cornerInliers: [] transform: translation: x: 0.0 y: 0.0 z: 0.0 rotation: x: 0.0 y: 0.0 z: 0.0 w: 0.0 transformFiltered: translation: x: 0.0 y: 0.0 z: 0.0 rotation: x: 0.0 y: 0.0 z: 0.0 w: 0.0 --- However, my own implementation of GFTT in OpenCV using the same parameters finds a plenty of features. The following image shows the features from my implementation. The same image was fed into the `stereo_odometry` node. Is there any hint why `stereo_odometry` finds only two features?  *Edit*: Example output of `stereo_odometry` [ WARN] (2015-09-30 11:23:52.840) util3d_registration.cpp:173::transformFromXYZCorrespondences() RANSAC refineModel: Refinement failed: got an empty set of inliers! [ WARN] (2015-09-30 11:23:52.840) OdometryOpticalFlow.cpp:403::computeTransform() Transform not valid (inliers = 0/14) [ INFO] [1443605032.840375078, 364.936000000]: Odom: quality=0, std dev=0.000000m, update time=0.005786s *Edit2*: Here is an example disparity map of my scene: https://goo.gl/photos/6SPKukujRP6fBQpLA *Edit3*: example bag file: https://drive.google.com/file/d/0B_p8EkSkbFYSelpDOHZwYWJJbEU/view?usp=sharing