/// <summary>
/// Detects corners using the FAST algorithm
/// </summary>
/// <param name="image">grayscale image where keypoints (corners) are detected.</param>
/// <param name="threshold">threshold on difference between intensity of the central pixel
/// and pixels of a circle around this pixel.</param>
/// <param name="nonmaxSupression">if true, non-maximum suppression is applied to
/// detected corners (keypoints).</param>
/// <param name="type">one of the three neighborhoods as defined in the paper</param>
/// <returns>keypoints detected on the image.</returns>
public static KeyPoint[] FAST(InputArray image, int threshold, bool nonmaxSupression, FASTType type)
{
if (image == null)
throw new ArgumentNullException(nameof(image));
image.ThrowIfDisposed();
using (var kp = new VectorOfKeyPoint())
{
NativeMethods.features2d_FAST2(image.CvPtr, kp.CvPtr, threshold, nonmaxSupression ? 1 : 0, (int)type);
GC.KeepAlive(image);
return kp.ToArray();
}
}
/// <summary>
/// Detects corners using the FAST algorithm
/// </summary>
/// <param name="image">grayscale image where keypoints (corners) are detected.</param>
/// <param name="threshold">threshold on difference between intensity of the central pixel
/// and pixels of a circle around this pixel.</param>
/// <param name="nonmaxSupression">if true, non-maximum suppression is applied to
/// detected corners (keypoints).</param>
/// <param name="type">one of the three neighborhoods as defined in the paper</param>
/// <returns>keypoints detected on the image.</returns>
public static KeyPoint[] FAST(InputArray image, int threshold, bool nonmaxSupression, FASTType type)
{
if (image == null)
{
throw new ArgumentNullException(nameof(image));
}
image.ThrowIfDisposed();
using var kp = new VectorOfKeyPoint();
NativeMethods.HandleException(
NativeMethods.features2d_FAST2(image.CvPtr, kp.CvPtr, threshold, nonmaxSupression ? 1 : 0, (int)type));
GC.KeepAlive(image);
return(kp.ToArray());
}