updates to avoid confusing errors resulting from not enough good matches
updated some names for clarity
added an output for keypoint count of the object
Important change to allow good matches to include less than or equal instead of just less than. Exact image matches were getting zero min and max which would cause a distance of 0 to be excluded from <0.
Added gaussian blur to allow similar images captured at different resolutions to match better.
Made the gaussian kernel do a basic adjustment based on the size of the image.