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Your threshold for the "good features extraction" is only min_dist, but should be something like 2 or 3 times min_dist. Its kind of obvious that you only get a few matches if the distance should be equal to min_dist.

Your threshold for the "good features extraction" is only min_dist, but should be something like 2 or 3 times min_dist. Its kind of obvious that you only get a few matches if the distance should be equal to min_dist.

for(int j = 0; j < desc_left.rows(); j++){
    if(matchesList.get(j).distance <= 2*min_dist){
        good_matches.addLast(matchesList.get(j));
    }
}