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;
}