The Features2DToolbox type exposes the following members.
Draw the keypoints found on the image.
Draw the matched keypoints between the model image and the observered image.
Recover the homography matrix using RANDSAC. If the matrix cannot be recovered, null is returned.
Eliminate the matched features whose scale and rotation do not aggree with the majority's scale and rotation.
Filter the matched Features, such that if a match is not unique, it is rejected.