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FastFeatureDetector->detetct gets GpuMat and vector of key points which is std::vector<cv::keypoint> d_keypoints; in your code. These key points are already downloaded from GPU to CPU you can use them directly. If you look at the code you can see that keypoints on the GPU are converted to CPU and what you get is these keypoints stored on CPU. code: https://github.com/Itseez/opencv/blob/master/modules/cudafeatures2d/src/fast.cpp#L110
