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you must have misunderstood something,

feature detection != object detection. it was never made for that purpose, and you won't get anywhere like this.

to do a real object detection, you'd have to train a ml model, like a cascade, a hogdescriptor, or a neural network,

all you get from the feature detection is a set of matching features between 2 views of a scene, which is used to get a homography (for alignment, stiching, registration, pose, etc.)

you must have misunderstood something,

feature detection matching != object detection. it was never made for that purpose, and you won't get anywhere like this.

to do a real object detection, you'd have to train a ml model, like a cascade, a hogdescriptor, or a neural network,

all you get from the feature detection matching is a set of matching features between 2 views of a scene, which is used to get a homography (for alignment, stiching, registration, pose, etc.)