该算法是基于像素领域包含若干元素的近似圆形模板，对每个像素基于该模板领域的图像灰度计算角点响应函数（CRF）的数值，如果大于某阈值且为局部极大值，则认为该点为角点。角点的精度与圆形模板大小无关，圆形模板越大，检测的角点数越多，则计算量也越大，本文圆形模板包含37个元素，该近似圆形模板-The algorithm is based on pixel art consists of several elements approximation circular template for each pixel of the image based on gray corner of the template field value response function (CRF), if greater than a threshold and a local maximum value, the point is that the corner. Regardless of the precision of the circular template size corner, the greater circular template, the more points detection angle, the greater the amount of computation, this paper circular template contains 37 elements, the nearly circular template