void mat2KpVec(const Mat_d& matPts , KpVec& vecPts) {
int numPts = matPts.rows;
vecPts.reserve(numPts);
for (int i = 0; i < numPts; i++) {
double x = matPts.data[2 * i];
double y = matPts.data[2 * i + 1];
cv::KeyPoint pt(x, y, 1);
vecPts.push_back(pt);
}
}
void KpVec2Mat(const KpVec& vecPts , Mat_d& matPts) {
int numPts = vecPts.size();
matPts.resize(numPts, 2);
for (int i = 0; i < numPts; i++) {
matPts.data[2 * i] = vecPts[i].pt.x;
matPts.data[2 * i + 1] = vecPts[i].pt.y;
}
}
void DepthPIRF::FAST(IplImage& img,KpVec& FeatureVec)
{
FastFeatureDetector detector(50);
detector.detect( Mat(&img), FeatureVec );
for(int i=0;i<FeatureVec.size();i++) FeatureVec[i].class_id=i;
}