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You should check if the keypoints were found if (keypoints.size() == 0 || keypointsRef.size() == 0) return mRgba;

You should check if the keypoints were found found
if (keypoints.size() == 0 || keypointsRef.size() == 0) return mRgba;

You should check if the keypoints were found
if (keypoints.size() == 0 || keypointsRef.size() == 0) return mRgba;

You should check if the keypoints were found
if (keypoints.size() == 0 || keypointsRef.size() == 0) return mRgba;

Your matchesList you must check be checked also