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Fixed various issues found in development#4

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kudanowen wants to merge 3 commits intokomrad36:masterfrom
kudanowen:patch-1
Open

Fixed various issues found in development#4
kudanowen wants to merge 3 commits intokomrad36:masterfrom
kudanowen:patch-1

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  • Fixed performance issues close to image boundaries.
  • Fixed undefined behaviour when processing an image where cols == 35.
  • Fixed correctness issues where rogue keypoints can be found by reading out of bounds.

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Owens-MBP:KFAST owen$ ./KFAST 

------------- KFAST ------------
Warming up...
Testing...
------------ OpenCV ------------
Warming up...
Testing...
---------- Dr. Rosten ----------
Warming up...
Testing...
--------------------------------

Verifying results...

All keypoints agree! Test valid.

KFAST      took 717.865 us to find 8361 keypoints.
OpenCV     took 2918.54 us to find 8361 keypoints (4.066x slower than KFAST).
Dr. Rosten took 13099.9 us to find 8361 keypoints (18.25x slower than KFAST).

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