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There's no magic solution my friend. You have to stick through it and see it to the end

To answer the second part:

There's deep neural networks that do object detection. Pylearn2 implements a lot of these deep neural nets with easy to use config files. There are tutorials on pylearn2: deeplearning.net/software/pylearn2/

I have code implemented that does a HoG SVM 2 layer then classify situation. It doesn't work very well, but it's a start. It's also in ROS, but has not been implemented as a ROS node yet. You can look through this to see how the keypoints work for your above situation. https://github.com/thunderbots/athomesoftware/blob/master/talos_machinelearning/src/ObjectTrainer.cpp

Here is how the keypoints are extracted: https://github.com/thunderbots/athomesoftware/blob/master/talos_machinelearning/src/FeatureExtractor.cpp