use CV_32FC1 instead of CV_16SC2 since detectAsync uses CV_32FC1
to reallocate the matrix

Enable "useProvidedKeypoints" flag on cuda::ORB's detectAndCompute function in order to able to describe provided keypoints.

* additional author : Ender Tunç <endertunc@yahoo.com>

resolves #6473

 * Enable "useProvidedKeypoints" flag on cuda::ORB's detectAndCompute function in order to able to describe provided keypoints.

   Update for using 'const' reference to avoid array copy on each iteration.

resolves #6473

	Update for 'const' reference to avoid array copy on each iteration.

use new abstract interface and hidden implementation

use new abstract interface and hidden implementation

use new FastFeatureDetector abstract interface and hidden implementation