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Hello, I'd like to use the FAST algorithm on my GPU. The picure is stored in a Mat frame. What I got so far:

cuda::GpuMat gpuImg0;
cuda::GpuMat gpuInput_gray(gpuImg0.size(), gpuImg0.type());
cv::cuda::cvtColor(gpuImg0, gpuInput_gray, COLOR_BGR2GRAY);
cv::Ptr<cv::cuda::FastFeatureDetector> d_fast = cv::cuda::FastFeatureDetector::create(20, 1,cv::FastFeatureDetector::TYPE_9_16);
std::vector<cv::KeyPoint> d_keypoints;
d_fast->detect(gpuInput_gray, gpu_keypoints);

But now I have the keypoints stored in gpu_keypoints. I do not know how to get them back to the CPU or write them in a GpuMat. In OpenCV 2.x i could use the function drawKeypoints, but it's disabled in 3.x. How to do it now?

Greetings :)

Avii