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FAST算法原理：

/* *@function FAST_Detect.cpp *@brief FAST角点检测 *@author ltc *@date 18:33 Friday，December 4th，2015*/#include
   
    #include
    
     #include
     
      #include
      
       #include
       
        using namespace std;using namespace cv;int main(int argc,char* argv[]){	Mat image;	image = imread("lena.bmp",IMREAD_COLOR);	if(image.empty())	{		cerr<<"Failure in loading image"<
        
          keyPoint; //第一种检测方式 FastFeatureDetector fast; fast.detect(grayImage,keyPoint); //第二种检测方式 //FAST(grayImage,keyPoint,20); drawKeypoints(grayImage,keyPoint,image,Scalar::all(-1),1); imshow("FAST",image); waitKey(0); return 0;}