Added response to GFTT Detector keypoints

modules/core/include/opencv2/core/types.hpp

@@ -714,6 +714,14 @@ public:
     //! the default constructor
     CV_WRAP KeyPoint();
     /**
+    @param _pt x & y coordinates of the keypoint while z is the response
+    @param _size keypoint diameter
+    @param _angle keypoint orientation
+    @param _octave pyramid octave in which the keypoint has been detected
+    @param _class_id object id
+ */
+    KeyPoint(Point3f _pt, float _size, float _angle=-1, int _octave=0, int _class_id=-1);
+    /**
     @param _pt x & y coordinates of the keypoint
     @param _size keypoint diameter
     @param _angle keypoint orientation
@@ -2427,6 +2435,10 @@ inline
 KeyPoint::KeyPoint()
     : pt(0,0), size(0), angle(-1), response(0), octave(0), class_id(-1) {}
 
+inline
+KeyPoint::KeyPoint(Point3f _pt, float _size, float _angle, int _octave, int _class_id)
+    : pt(_pt.x, _pt.y), size(_size), angle(_angle), response(_pt.z), octave(_octave), class_id(_class_id) {}
+
 inline
 KeyPoint::KeyPoint(Point2f _pt, float _size, float _angle, float _response, int _octave, int _class_id)
     : pt(_pt), size(_size), angle(_angle), response(_response), octave(_octave), class_id(_class_id) {}

modules/features2d/src/gftt.cpp

@@ -86,7 +86,7 @@ public:
             return;
         }
 
-        std::vector<Point2f> corners;
+        std::vector<Point3f> corners;
 
         if (_image.isUMat())
         {
@@ -110,10 +110,10 @@ public:
         }
 
         keypoints.resize(corners.size());
-        std::vector<Point2f>::const_iterator corner_it = corners.begin();
+        std::vector<Point3f>::const_iterator corner_it = corners.begin();
         std::vector<KeyPoint>::iterator keypoint_it = keypoints.begin();
         for( ; corner_it != corners.end() && keypoint_it != keypoints.end(); ++corner_it, ++keypoint_it )
-            *keypoint_it = KeyPoint( *corner_it, (float)blockSize );
+            *keypoint_it = KeyPoint( *corner_it, (float)blockSize);
 
     }