【笔记】FAST特征点检测&&KeyPoint类：若某像素点与其周围领域内足够多连续的像素点存在某一属性差异，并大于指定阈值，则可以断定该像素点与其邻域像素有可被识别的不同之处，可以作为一个特征点

#include "core/core.hpp"  
#include "highgui/highgui.hpp" 
#include "imgproc/imgproc.hpp"
#include <opencv2/features2d/features2d.hpp> 
 
using namespace cv;  
 
int main(int argc,char*argv[])  
{  
	Mat image=imread(argv[1]);
	vector<KeyPoint> keyPoints;  //特征点向量
	FastFeatureDetector fastDetecrtor(50); //设置检测阈值50
	fastDetecrtor.detect(image,keyPoints);  //FAST特征点检测
	drawKeypoints(image,keyPoints,image,Scalar::all(-1));  //特征点绘制
	imshow("Corner Detected",image);
	waitKey();
	return 0;
}  

void drawKeypoints( const Mat& image, const vector<KeyPoint>& keypoints, CV_OUT Mat& outImage,
                               const Scalar& color=Scalar::all(-1), int flags=DrawMatchesFlags::DEFAULT );