#include <boost/foreach.hpp>

#include <iostream>

#include <opencv2/features2d/features2d.hpp>

#include <opencv2/highgui/highgui.hpp>

#include <opencv2/imgproc/imgproc.hpp>

#include <vector>

int main(int argc, char* argv[]) {

    cv::Ptr<cv::FeatureDetector> fd = cv::FeatureDetector::create("ORB");

    cv::Ptr<cv::DescriptorExtractor> de = cv::DescriptorExtractor::create("ORB");

    cv::Mat image = cv::imread("image.jpg");

    cv::Mat roi = cv::imread("roi.png", 0);

    std::vector<cv::KeyPoint> keypoints;

    fd->detect(image, keypoints, roi);

    cv::Mat descriptors;

    de->compute(image, keypoints, descriptors);

    cv::Mat out;

    cv::drawKeypoints(roi, keypoints, out);

    cv::imshow("orb_bugreport", out);

    cv::waitKey(-1);

    // Dilate

    cv::Mat se = cv::Mat::ones(3, 3, CV_8UC1);

    cv::Mat dilatedRoi;

    cv::dilate(roi, dilatedRoi, se);

    BOOST_FOREACH(const cv::KeyPoint& k, keypoints) {

       if (dilatedRoi.at<uint8_t > (k.pt) != 255) {

            std::cerr << "keypoint outside of region of interest" << std::endl;

       }

    }

    return 0;

}