kaze | An HDL embedded in Rust

The following code sample contains message.delete() which will remove the message (user's input).

You are getting an array at the top level instead of a JSON object. You should use JSONArray instead of JSONObject to parse the inital response object.

RANSAC (and variants) is an algorithm used to robustly fit to the matched keypoints to a mathematical model of the transformation ("warp") from one image to the other, for example, a homography. The keyword here is "robustly": the algorithm tries really hard to identify a large (ideally, the largest) set of matching keypoints that are acceptable, in the sense they agree with each other on supporting a particular value of the model.

This is done because matched pair of keypoints may be "wrong", either because the matching algorithm screws up (think left eye matched to right eye), or because the matching is correct, but it does not conform to the model (think matches on the same point of a moving car when the two images are taken some time apart). These wrong matches, or "outliers", can (and usually do) throw off the model estimate when the estimation procedure is not robust.