This function will return a 2xn array of corner coordinates identified
in the provided greyscale image.
A two-dimensional (m x n) array containing the greyscale image to be used
for feature/corner extraction.
An optional named variable containing the brightness threshold to
be used to determine whether a surrounding pixels is brighter than
or darker than the candidate corner pixel (default value is 50).
An optional named variable containg the number of contiguous pixels
that must appear in sequence in order for a candidate pixel to be
considered a corner pixel (default value is 12).
An optional keyword indicating whether non-maximal suppression
should be used to eliminate "clumping" of identified corner points.
An optional named variable that will contain, upon return, a visualization
of the corner points (shown in red) laid upon the original image (the
returned value is a 3 x m x n color image array).
An optional keyword indicating whether diagnostic information should
be displayed to the console during execution.
This function returns a 2xn array containing the image coordinates of the
n corner points identified by the FAST detector.
E. Rosten and T. Drummond, "Machine learning for high-speed corner
detection,” in Computer Vision - ECCV 2006, A. Leonardis, H. Bischof,
and A. Pinz, eds., Lecture Notes in Computer Science 3951, pp. 430–443,
Springer Berlin / Heidelberg, 2006.
Written by: Carl Salvaggio
Original Code: Sep 25, 2010
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