From c4ee36ca106cbb1b3feb1826c2e588234ac7bd28 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Mon, 28 Nov 2016 20:04:40 +0100
Subject: [PATCH] Improve test ROI ORB

---
 src/examples/Test_ORB.png  | Bin 10952 -> 10936 bytes
 src/test/gtest_roi_ORB.cpp |  40 ++++++++++++++++++++++---------------
 2 files changed, 24 insertions(+), 16 deletions(-)

diff --git a/src/examples/Test_ORB.png b/src/examples/Test_ORB.png
index 67e2e40bc1a0690b8c8db852790af7f14d610e41..016141f5309c1ed34a61d71cfa63b130ea90aa8f 100644
GIT binary patch
literal 10936
zcmeHtc{tSX*Z&waB&mc7nW!W&q%as1DTK0Ri6OExGGiUfNaa&mDqDq-YAUkE5R;|)
zM0OEl4KbFi*~S>lbI<rZ-)Fh5=bzv2kKgrsuI9R!_xnBPKKHrLea`Eg`<(aPOUCE<
zw;$LJfk626FX);=AW#AX!ZFAL1y9P042!@Q2iElbSx8>9*aW!Y^}S$?g+TZOS$`am
zr)m2DL5I7!70$}&qM8%NTi($bbM3l(khd?OhCnoe)WD_pb(|wS$lJ>Ys}_WkWK*bt
zYu00gB%Dox^F&En8C`<wVEnGbPs^W@SCG`)4u``v{G46XOm+4C84m7Hl5RMhuNndo
z7#JuYs3ec^b44g3kw}EXNyN#Ma)3e(8|;H~43hJ~N^LRucRsq;u}*&OzBqS`51hr<
z@fyY-hmw?JP4utNmYg_um;ac_2m8;mzycAhUl5A&3W$I4217MiPt|lV-oAd<u~@)g
z^Rxz=^1nR$k9oG}FS%iG7@!3|cPD)x+;u-N80W~6PV?kHqyJ}$|IW+A&;2@BHG8z;
zKcoNivw!F{5Uhp&Cq-;&nf(-~S#!Gv;$K^)xxHZcWIqIQEL30jjCl~pbiZqkoJBv(
z0b#nAWS1p*52rhEJVg@T#_f3`^o*9(wY@vsPGNKpU%P+r?t!H!xp0otXYSprICPUh
z*zS?@=JMSm!d`IS9|O#p_t-C3m7->AdgIh-0g1r^x|*j8k=(p7{e;odn0@>9Z6+fc
z!U5&t*=1!N$!{5OBUz8YzF*5AK$Hb|cEPm?+5%AMdl>HiVQtn=&@M6X3|ydicm@x)
z$~|I}^EhC)#x26(1iW_X1r|$i*~I1zZ;c{AW;psKd0G4bW7r?Ye^l|uD*m@Sh^Vr5
zfk#L7wvuaKlpVq6OY-SizLVs8dad7oHDCAeFEwbee4UIMeD3~Ckqs1Yq~L@})nB*S
zn6j6bXHZf;mhC9o;v5`TYcC^MsG|Msf;L3thWkY};`{<Iq!t%)h>c0-08;&B=)?w}
zOXsyA)EnRV*o=?u*;Re+>H$F(bVaHGs<;>STNw0^0FnRM_Lx26_uady{l%8fvKimw
z;_}^{QnNK<908Iy{6=Jp@nJaO{`*r$*)#eBD)I9bEL?*`N&+GOCjD6ol<Uu~{4p?=
z=Un=~^_55qK0ZGGkhU#1hPPT*AM|xS&c6i;DBy1`rY2i1S_D#zi=;zaI3f*j#QN7=
zwpZhXcU7lno!UxYmVm#a3{kt;{@M(HKq=|Y)_5Xtan~$qwu`q~YeNEGwLREE1;Jg_
zODC3e*{Gn#$1~V$eqaxKd<Ym%BoViO#Fc}i?}>rV7DSi;>?!&#$QEY&1e~C5=6+!d
zt^lZoB!@_{!6TiU>(65Tm+p*m4z=S_h}!1bLJM*%Ei<PHP95%U312=ZVt4ARg)Lfk
ziCVScU(}>*i>?r$44~J4T@eTy*NLu(>&&aHuG(12_sp+YzK>q}NlQV8w;QSS`%~?f
zQWRGXiU<qe`4GpyZ7%7GJ<|F2p`70Qi1o=sIW-1(pQ9w!248EfPo!M+t3%QIiXJsg
zhgpky6?`;AueRMsRKBO5E`-X$A0$@Hluy3OWD;N+gA$u7=N|=e3!`qG^D3WsWgQ!<
z@?)jTDIP^jG&5G4czGzNBgWrNfv~wjuWIRXz?^evkSi6-{OpNl_Q>YFm&`c-qGvgD
zXl3!WR#>lhsdv@-@{69i-(FMwfdgUdOVo%7Lv;Dny9S^4LwCqJ^k(&0uOE&HM#}m>
zM^kGvqYpksbk~Yu8;STCB*M1e0TMqg7{F`hoyPHDAe=c})S}6FV{^0X>Slem#oHfC
zd4Ux}{Fuj+xdro{e1~xf<b>As&eF;xuJYkH^`ke`@3dBIuFq~hgQ3PVHrHG?-efEn
zzrG$pujUkJ{759<9sTLbp&|0wJorfM{^~OtvmX|SOF6FV)0l|2JJhCT=8;Ryft3q=
z*p{Z+#RBU0o~AutKgNh+J}73UV#|?blz{Q0VXo^gg0nQdbG_=j2=Zheg&6WHOFGT>
zY(Q`kQ=KYGb%2ZwyW~YXb6bWl{pye{NaT?J`M01+V@iA>_nb3a{=?j-b`z~ILe#Y+
z7oL}QjxCv?H|A5YL5$RawNX7$??mxF{l2(EIH`ozrlS~OBgo9uh&Z)hZ{$k4uHESh
zt>^$+a<-QbCeqZ0-6kU!j;IOEyQcehc5UZ2<s!c2<eGc5>0vo9B3M4aXbwD@iElbh
z^#bZ|Zxyfm@#SUm@eK0>n`~*+gnq820?%O5TEl_A-_6rCdLYe^!?)~z-@CHo+F{Fp
zBjF3F16Tb!ETY8&y6WXS+thdu<1m$s(fm-FY>IuzM8_3$di#^C;|KKnj0vyE=Ft-2
zLB^A>l0D*4%j3=}EwNm48u33Kb)uH|%8t6~SM_{Ckn|Q~l$wK>y#tyhQb)QcOvEjZ
zKeyfY#j<25+15vYe00vQQj|8=*mYJ#owK{Ui5{~~ABZqD^snZCH9E<4JQ^F$jzquy
zaEl*5$SI+kjfo@aB6(LI#)lpjsY}|prZgQvrwmLNw;Mb04eme(oD5%lA#uGob$@+u
z--FqRO(w9HRcaM6ejw2@_SdIacexH9%CvGW>40~zLlnMxxa?PGU52KUCYN~eUYy48
z{+5;T^IA_mk;z`F@l}uGnSAo^2gPTDYBloKuI4WYM67&HYd2b&r&cbL56=Lpom8?&
zJpsMmugT`AKv!4e-IJ0q-U6yh>d{tjTZ?=2J$SG$(xP^%z3JeedS}<oS9d!~O2hQg
zTWKr=e*SLxG4~>|NZ^yT?X6ArXDZiYJWNz@V7Jm1pL{o^75ls;n;R0PbEi36?~Q#p
zYfL&}{gQ!h3`|ta;3US({=m<s=fjb|JJ)<S>DxxR{=RR&_<S?GU$#MHWx^yvjkiBP
zeCch1=(U*KAK^BJOShyohO$h;JkAEv`vcLMUT;ywC9t(<tu@D5@j$VmiHaG)Q)ol1
zWNSa8YVI~-g!9@hD%Y6U93uSp{TV^MhHhx-j}XtZ^n{Ex=jJIF7<^2%R=B*~COh$x
zk!RLVh2AF0ZZ}_nu0!M9O6uo7>xJ(O`k8Q_4|_7`7ROqx)`sF3{GI1XJTWNnPBkKe
z(a`tscxLK&)82a5=B}fr9!XfZ99s2V6f^O)25n_H9$n<p<mQ>>axtkJLoR`(g;COa
z8@ypInB}hnO_$vUOq5`nYeNEK`e&S&<BfMD!WO^P#XsB>O7saQ{@Pb;686iCL1#Hz
zU!upY3?;@4arizmNj;Y|?_G(L%<ZovLz=~%{lw|hr301AdaJ?Sk#%y;)bQ)YT4N5?
zowk^Cf%Zb)5#4@zCB4Efp!>R)sC{`wu&?X#4Z(7x%iNgOW^h_&>Zc0x2P9vNjUl-|
zpf}0Dqw0-zRP?jyUOBb4b`i5g)%D;Jt&xSrsiKzf_S7GzO8myfpuv;21FJvim4PFI
z4&RzuUWmTVO#Qs%89ftp&+sVOyv!J|OKJ!Zq0RsF<Fe`HG#1x2z7XS^@rrr)>(Gn7
zqyjv%#CB9L0Ql;@7T6^2)B@@RRVphwgRr(-T4gjos_ZD!#9W_^$XMAwbh+4F&Z7Az
z?PIyjqp$qgQ!N)aojYp<_-8os1zshuHgb@Xm0h3ozU#2GO%LdCFFWb#r9!*V-wM;5
zi&SdSz&;@?FeiC?Zp{c?x%#`TB}{(cT<6aIIw9Q!ihDmb6i6zHF!9WK*FI1IlS`3m
z?KwF2MFhR}VGM=2HDFIMxfw?9r}qwQ1kjh8N*nnF4=y~ejhQ}%yK}nstX~|~oT6HG
zQ4v;mG&5DF3Asa|x#ga|oJHJvTIhV8%xkszuTtWC6SSy2GHNh1W^~OGk+|^gQXqjs
zy+9kWBu=3|We@KCee~Wu1CMx6v!UX;e@}S^qtR89+1)bASKE`Rp55Cy+ImG(6e~)&
zdUA0@S_?_dq}4o#ja};VHumI5n{4Bno3id|8_sdXxYGmC^l~cAeawk+P=;d-phsmL
zWTQP}BN2c32yVedUc!JIvy3yVPnA*3Zfz=!P3vyD16CgZLiS9Ah)o_QavNumm-K?c
z>kGs?=Bu(zrCLA#lJesu_bFB}<SMA!e&E`Tv{pU}EcbZk<0~}dH&YvK&A*8PXsEaU
z1%H3q$EK3kdA`7$KtzoFrTbZ|$(}>we3XT&g;{|4>lY;<ND#;D=WdF`Om}YY77uN(
z{V|^@5awnKQ(}^N`^9XV3l~8&90R-n-hoK_L^S7MVBd{sF~7fTvWHrJbwX7G9my~a
zd=Ky7xiBKoRprPLg!N+X9dx5a!)+1!$FRN4-)=k%)i0l~mzB;;jg}aB>0<vRE$BeU
z5ba_E*qxb4&0LaS?B~#Ra*1&DaE|+w=GZ*RYIo=Jt4NFGUstNsq@&FA3f!VB(Tz(N
zX7K~echfpQs?&%q!;{#GOY$8?9jjnxO73q+lg%0Q;^gC{rzGaPtV{Ppp+Vb>qcBGZ
z{S<$@;nklaRVyGq+fgaGmBc7L48FJ5o>6~g=d{dG>q1a=-BXT4X^pm~cbba(f4^L2
zqr%<jBh^zg;N;1nQGyL36)8x(lV7nFv5Di?*krVTkT9TCBK1V3t8B5&5WDcgzb>b1
zvMfd+lL>y*EJYjpTb)&5Rwg7EIQ6!(xQ5Ps46Z@X7$(WCbeQILnO}XvO%|?p!tZgN
zIH6y72Q|3gEkC5=ttQyeX1CT6TSiaF24jpaRDE|76FMvkg1VGsjTj3gzmrTnvJL{Q
ze@pV1kN0_Z8Tx+cqn&g6JiiSD@pFDQ<>2qX&X26v8+b@lV>Xzy<;~RoCJp@)Oe@)<
ztTO5_EB=Zi#vYcd41{9Os-V+n%O~?rgn8l1yGOv5$lpo@A>*kX*<4mh0FO3cDF82%
zX#8yC9)uX1++JOFqpfQv>G1A>l^PX$+_!T@H<A~8gdbAUFP;TKblpdO{{igy(Q8;Y
zlq<@wu63l+Jox0OU(ouD#`a>cVp&JIbZnW;XXIeFTRgsR*st{2;lHO`Vk=S=-j6&o
zoDaQOuK1v6f@+VSK8(Y{=5P6IoRxmvRU7aeCFo*mm?Qyk4Vg<>XjWHIe&}V)F2y`$
z)-ck@u+WSbkMBP;)>>aI6k4QljR0w8yqICDjXn>g>Zo>sc0`8=1}$YEXgF3%fMwK9
z63i~JWa3(8vd8k?11*$X6u(RdLkqZkjZ!$t_Gx_76z%=qpc30S!I3kH!Fp3uF4GmM
z%v-J@Bag=0j2c8JllfKQd&*V%e02^^r-Y2|o*6do14#{jwgOnA2X8j%#k2K3-o2Y7
z{!qU2E6z*Lch|W-M-4LfHo(R=*EY4B)CJST)>lAO>l@RgYu;^x$FkB>qt&Ch1*%H$
zqnVKbJ2m&LrkBaT90l-J%@f3+pLerJ1~;q?Mcr((`9S1NQ?d#karJ-YqSknDPE||H
z@Vr7tXs}gp7gW_CKIHogpE6pq{|#D~cHHr?Z?P$M0oHL!m=C{e+FR|Y`Niw2Ku$k&
zwzTH&yZ$E6OLJW(L7+&MFB-$uYrCk-&FI1<auA_Id;<$adW^STf5>F6Osc_=9^BEF
zewqSC2IHe?GpDIn6Ix^IMlQ9h3aEk@9;dlF-j{M5M4%AwdKwJc&kcAs57ek??N!^!
z0Etc@Nc#P~H0E7`gYX91Yn0PXC2;jJuU|^4rEr^^RS}sQUAt~<9}|0RnxU0Ts=tx|
zcB_Yf?V<xOG?&}ghpZYbU%%%>&77=$V#eBtv{P5x@!rR&I<$kaPN|m}QU*Vd`kA(*
z*<>Gow9r)tU?G|Y074&4HeXOpjItYh1yz+u)S+aqwQkc)(ROZeaq~RgwN#f$)e%5_
z|3Zrrf3{S3EsIo7jRTQPhHNgKj%(X}UJRH?nChew)F_?Pxb9+QhOv*ED^5hnm!s|Z
ziOG-~n;`3S%?LC7Ny*!0kI``e*7~*p{F9o?BH2`g_=~2x$lf{8Y7TKVIR|MWdP9Rs
zS|X}aMa?wEkS+UrjgT9?nH5+3q92GUG$3dHp3Ztrd}@;o@~WX}?^kjM-f4p%)2^&D
zIuq7k(&yLkgX&mm35Ojjaym>H^ZedPE&=GEvlDrkY#uyU^Fm^M-2e2lTI7-(oIov|
zD_9-yc$<5Nd^QT5I&~-=+l&OFmW+k&2+t8lf1DZ}<-zWZr+IxUPBtj~`qRqZ&N>ok
zi6pp8aBY!rEpcI<SoN9VONZDm${}`Ivex#Z9{C~k6R$Kl8q}u2C?%F&X;33>P`vF<
zP^}$E<0Kjtk5kItuYuJ4{oqZ$n$Sa2&rj;$6-`zR_+6Td4&N~QoR&b@$=Kl?lhe`z
z_O+lkCI?kcUquRe_;7_G65=+Q^C?vt9DRj_F0wKY)_cV0^@nH^VOf6M-wg5y*LPd7
zRnj{u*ZrJ<z6inZn`_fU(r-5#AvKo^<7vEHhLayL7JDCen&w&;vA|=2BE+N$MJ9oo
zt?aPIU!;*a0&4I`{NJAT3r|f#e+oi_>Ie;MUszKpJ?V>NydREh5De%rl{4$er^~_#
z%q8?U65k-rcP#uCOdQv0am9|DX1wO}u-duiRf&{|`s44W;^8Yp9$EKxoIc2s&I@*Z
z*{cYq(d)WQ86)C-cIr}&29>nU52SxLC53wcnGz@-S;_g?(Hz@(203=tuiB9MWP6c=
zw84Y;sX~F^uR2_Femkg36p+p*%3Pc^Op@-+e_Kf9Ej|P+X-v%lU#&EH-FJ$kWo}~L
za^@oAT}s8pZGna5Ey}^gb4OFX9>K(oJ+u7MHZ>y*IiXEFr-Z75_eDX7il?!6UqXmO
z?X=u>WA*7qrIx8S)6{d^ujr&6a0thuv&GC+R|ccN>OE**M!BDEAMC|cRWLYgo45T4
z9!rM?AqkBBsbX-1w8nr#U+vnnKGV;@Pr+eb1NiK;kpc4?QQL`S6P!^+uCB%fWfo&z
z&*f)Fcj2J#4I3Vo>VG`56ET*<C{C^~($>>F;<Zu1#Wh!<ZL={TcC)$iLW8Ya@2W7+
zDNS!bux;_czQWn0ccD;DA-CfMRKClzqDGI?atgU5wZ&E)Ah3p2AgF(MgxvQQ`&Yp}
z#(-t3f<vBEQ{+d*Y@~xz3IZtZ_4W{kWC&c_;c_GpSxSQORbQ^dF<Km)LodrB_KZsc
z8oZce$|33<?T6JblRYMLONpJP-i2R;&!OBd5~`oG)+MVWEbfHZb4=)hoW*h=){p+!
zDXuO-z|STSWYou|b@5Ox7e1hH;6wr?fxL~oz*<P=;0#3uw$SW0D+lFDmH{&j+^7|A
z7@3>o(mSG1f#}#^&T5q*EQl*$UUO`9&GIqOApN`44fIbhf)ug)dWx96=ElmfnPC$C
zB)#Ccu)aed5Ql|}GvA7rxH@H6I$?|?n1E8ui#Rm{xem3$4`&?C0qx#Xu;q!=<Wla(
zwVzPNmjbo2jxF&*g%_b*!n>`=1qB6P8x|O*&35Es<N}hXv)q-Xp`mCAVtcua!w*p7
z39*;HFRksM7#XlkFsmr*+7=S4&4jiyO#$-n)R@yIn@<aTkW0fx20&G*aGJYT@M?Wp
z{9hf?t@;jN>AgM_TBSKaSDKDTmRh&FuERc-@XMeAp)i_6wn9UJse6}ny8v3oXlj1`
z?THjf<dRIQ4J6-0HcW8*JZncO@?*Dr0s_n~lajMD9u}BGEr5kONLOSx^QSM#Jct50
ze>ro80#4MF*-CtdtaCRP&v#*9H(1M@lK2gtoHXrw``#6$+CG)=t>#Ezn$los*(*Mf
z6L+iYfhQ&{m7IcZvh-NLa|Q$uX60sg{pN0X>oaXLj=sT_u9te;%DrAiedVE)>5|k=
zQ(BT<X@|>hc)@#Zb&e_PTleD&uE3-ez%mmyKtjMf_%SD4=#aJpi5sNLS7D(oD0)tD
z25t9anFlu6vC2KilotMyihB&AX3BK)8b4+aTtOHha97x|+LPYV73pB3`r?jf;`?sY
z(zaO~=ZZ$Tb;f}<JJ4KS_jqKhByZnrIEyGK*wm2h(sY1q{%RWsR0(YP4l&H`_X3e1
z)A6~lm_=e8g*r_8VNXhVcde8HX+vAjz=99XRYiA1Q1i8y1Fz)UhfNjM8qXM#r%QVC
z251xMkVs+fry*jF_c@(Y+3hr=NdBI_6Sn8r1?oE>#6+VsJL6cj?*l@+s$+NNG_lIn
zk&dAB?HC_VmSWxLfztI0PR}A11BWh<p?3{CO|!XO26gc9>Yfv<LioNC0_5QGij_L+
z#?4$CqM}xye4oYn&ouu}lorV^+LdSV*79_LkZcJrXsyVW<OHK1WLccL`N}d--s~;K
z!lp!xJjEem#QCT53i?-nn#h0p;eT5D{~x|^;bryRhW#RlRb}<3PoL)1zkU9|*TqSs
z?=Ie8HGCCPK+uwpZZcrK6H@&F#I|6GGm|E)7>JdD6UO|ya!#?@w~Z76<o{%l=#54u
zkIm-Nu|Xf+$=z3|TzUuxfuKb*2)n1ecnBOoE|r2j4Ft&w5G2?4Lf9?gFz`By=6AUS
z7L^_XPB^c{4Pm`pqAdY>%>w=ntS)xsH@+Od%rE0(;4M-xe*6sRi3^Mi>$BrGR{@gE
zh%02*u4>dX+rz9yfXh+#ynt96LMQk<WT`+~8<NV&zIX<U+~ih;U9l1oLOo->PO5*-
LSU2yi!_9vK%33fW

literal 10952
zcmeHtcT|&2({~brQdCe-R74_(2m+x97`j-HA}Ad~73q*bLYHd2Q7MXmbkrM=jzB<q
zuz++#>4XG<pp?){q`e!s-{*PX@0{<y@1O5Eat<fgwb$(I?99$@W@k72hOWkbw&QFN
z2xPzJwafYt2rLu=fl^ptprx`zy9E3|@%kF-kb?FTzrYKt$2BuN1j5e6_=iFglaB&|
zZf8SNFVpKf3U*j`3ESJ)TlNxu?jC>|0#Wi)0FUnWUbYB7cQ*`P!B1IWhe827Gn$bC
zh#e9yS7iay>o*XWusC~!ti*W<NdXl$1OlOiyX~N$fBEV^-NBo(fRmS(hXNAm>+37w
zD<gr$IU=P{C=^ms8YwL;4k*O&{unP?KXD9RaF@w{^SNw~x5GJmcsXM+2nJu<TUc)|
zWdQ-kK>zyNmD9`F;ol=+@c&E;Oc2TVf|QbwME;96=&HnMRk(z8_rTfX@qoXItkMqU
z|7!d9IJ@*WoUmS4paq<>ohHW19tS#m*)pV4k^ZOm|DEFh<fVsmwg<D`=`Hn7@Bi8M
z54{qSG4cPQh+Qr3v;sA&uqh$`Wil1EqETrQ1akJN=H-iqe$W|`S)Pzl&0fl2bNbmg
zYWG3~77;R{2=TLBI(Hv4J^XZ(OUQ-$aPqCor=`B~_%CTj+<fy^%H@{&52et>(4!On
zsUB*{Y9mABHr+`%QkHM;WJ!CrWv<G}FTZMft&Ent6(-7aC#`dP#KpxoqqbQ%5o)23
zFv8*Y9Rm{WUH`mpb8!+Ipimf`h4ZMI8iXSh^9(#9z#}iy&VvmE3RQwsUOB|*4TZYx
z+hqfV!{;DBk7$B67#v<C#rOz=@8RSmGNq$W@9+bR8Et<UvjDC9QN^EC@t^7-HjnnO
z^yH&^iN<;TXT-$C^ZSb%Y7v)moj8u0Z&vKf-!gXYpX|iJEza*de`W_Lyy0*UK8>1P
zC=q}{Ek0#P?Lfs_K}6`(g~<myz`@PRLJ^RNU}cc0@d2vFo5&qZO24KC;qi3V*}<Gi
z78Z&^WWcE%##dml_kU^IF;E9_LqiSH>-n91hw<4%oWv^@$GLVePytXyzOmYYK(%L~
z5Q!gMFLy@#evp&sePUUChw)<|<iYrc-4P>0AqAsvd3G6}Mua|j|7R+Htnz1p{lD^+
zB8;<hwyxekZVV4#zW}3M&p5RU3c>&s%qGKkTy*IOC$T2`{OKKcUj{C!tgU=-$E$~d
zSIfsf-1XN~;IEF^!aM%jiB^NGW_CsIx;RL9mc^DY@3?pXI}2sl@c2${6BYpar)H$?
zq5>8Q9ZJ%=wCnGBz|JM#xpsv4DUJxeW8i#k7kdCg1;hmi><ClC4EMl_?%#zgWdK(l
z`g*&<l!rq8Oy)n+GQ<PRmF6!}t+s#nTI1VfpA^fnSDcKu^y%L(KU5T*TV{T4d9`jk
zsMpfhGJlw-ifp~L5Wn}NALUlz8$vEJdUNYDGI+iuZF4$Hb@SJ3(CnS<&DoGCq}|9J
z3v+YxF>g1?P}S9n4)NkOfxJO%@M6*x(+GmaqrEC~VewW0zaFV9y}CoIa1@VMTq_1K
zIDQr_PYzt9xZYwmMpGgcX={@vb-y1V14p>h);{&tt`Mqdm9CHYe7=};Fmt?mELJsL
ztQ|1uoR!k9ygKv*S-bXu9huihck$}Bfow0PZCmWmj{7}i7o}`IkeoWWFaTII@M1T5
z>$bW}f_U2&8du}c82ZM9YDmK|$I^FK%3gDQDR07ttPfiM?uu7g&ekJ&eY;+_IfIQ+
z+g@u_J>y+ewb-sG>{-%uY=r(is2w$N!hh@;-`Bg_oi-4?8RWFj(<0|RbF9M29@Fm{
zshqZopRR5`3lyrE%*n;c;l877#~ops{iiWM<Q`R!>FvIURGU(1QNuIkWEJMO>%*(H
z9DYQmEuh7T_}@)>!MI3YJr(-c`jBIw&~=y}+ehz3_hbi%#z^H<!JXgV(o!$oZ@Xf?
zy;@$ooNtlXUu1h}ig$prB4mMAL6Or`R^CO8PuX3?s>?ejISR+&Q!DD-tuQe-DIxn4
zUoR|mUP4xkJzwllRee<b%Cum{$;wqSbdlh6euF9hr`4Sq+0N&Ct)`iIETWP8T>B^|
z;B`wG$P~)gZ6Xt<>PXt{&8^isRmFG7h1cuWJ|l6rQ1w9P8;(8X6yM<rOTMUuORS{8
zras5CAlyay?UbOE{;Jv9^|R%-D`GK{p~A8X@q<}|e&Xa~!f1|U<k#%z4tgK!5w^b%
z$aNRd*9j5xBQvMqn5vnw6Qh~Nw3xJwvHbGkM1wrDC$yv=<gJzRQ^qbu_U$g&3-K<-
z+RMN|!F8J}yl(Es`1+}VbI~on8BeL*mwA236+XDl<z8#g&xc2cpUzmWCnK6zG@XC0
z_(=ZfNb&m-PF`z}zgi95pC1s(RgA>FT%V5$*=PaF-5R*YI%zieSe!v_*Q}584<BP~
zZ)$=gwHV`)9eLr$Uo?_&hzERVGL<yxGv4A&YwDjI%&&W<iZ`+HA5R)y%4AIyp^tEc
zylhU{aCQw6M*dvc{HdX;^&^-nlh#yIp-OMkqlIj*J97GrdMKFSt4J|bf8&ahW<Swg
zF63q?{Q5hl!Bo53{pK%@{U@Q0rd9it98Zi1{8SvCj~qHJpLKl@y9tC<`k8*OQZ>*W
zJMDn>9rA1(-#6ia{5>Jcx-pInY5M9;gSM=uo|vVwUF#BBHpne~f75HQTc6LT&(>1h
zC^AUn-9ooXalIg=!0?rVu?(N?%JDfj4l4JOLF&Sb)!Nk>UviMI%zEj>!!hF28~)9o
z4H3L|%6jvzAwmKdHqSh&&>YhF>zS)9>O)KTIBR5S+mHjnaGh3#HPI#vVyfJG9PVzr
z&9GcBx#6(P&NURTERT}CPoMH=7Rg$2Bi}BW4PLFP@bpM@)QUt=U$zc+j$!z2zX{%2
zOcVCR8>32W$4-Y7c%FWkg({U>OzYNXzHO`>>&l<sqwiievbo(qaM0uNGTzcwpR0a}
z++Pw$kCYyFCCc1?6Q!bHeK8Yt(GDgkb9X#4uj|>HO&!EUblpO1;TS|-o*KM4W!+(&
zw9)oUS4?kXpM{C`^2<ggs-|9mzWVCiM-F*h*_qCPgL7$HOIb_@F4!c-ua=cX$=^}7
z)?QTJtmg=xb12lCNy}Dg<Nu4M8>Q*KbyI^c77vLT7>jjt(?v`qU&L@VOJQnD+Z+O0
zQ`~BQb{JNf=e)S#O)#wJsXDY69#~c{Xp@yb5k(5Tl(r^INzlVcw0@=l7%2>1&W#Ej
z6V&tjz(wVV6{$<w8+Y1MhU2QbytOgTCjKZ5!=E+~QGt%UZx}Ov*}VM%6|x$x7x=?}
zBE|RjuPnW?I2Y}-)WT99c(PrU#b6TEGF92vKXF{FbT-S=Z+(!w^?|3>Bk@>rl9&uh
ze_QHXV9R~i)w8cQqMbC8y<}A6>gdYyl4KG-SSlV@WiCpl-sut_%p*W_S#QxsX$6g9
zRc%}$QX$64uhSyJlK1u9nXSq4KOgfk-nVAT66KRHU3iI#Xny5BndK05sQDY-arJNA
zx!@tX9l~JslW4iG55aJ%w=iw{;Oq*w(;RoHT@`&@<x2P>ug(OC&v$5kGPf}JBk!<e
zePVaAP;=SD)mF{T+6~}N*M3kHFc|n3CQ)g~A#svOv~%!b^vY@wSQaHTu%t1AmSq_{
zCIY~89u8G)@d0($@C}!B`7<8h*1e}$6PtZ#g&eZ&oO<ZXvo=Kl#D;C>s~Z=)MP+Qp
zTrh{^zb4h~qr()&kMU1TPZh+8n#?cQkhnE(-_6ksQcb#7qJ@?9gI8<mw|OP0R<*gc
zG|S)aP+qOxSZI-v?Sp4&eR*bm;I0ANa36m^_ubR3GNX1|>-`<U4h@Z{x-&pL7g(iv
zPV&*0iwChr+)k3AgLkSgf8I<ffX_LkGOSKsOkLHH3>}R&L#fV%aVRk&QR{7s?F|61
z$;bEsmSZc%<L+zK>U+h$<f@bM?YBhbW;9o%J&~w9J8tNh;vH83jeB4|!-Hn0Bzq=K
zk6sRlJS;<W-xK=;?O*JBlBv9Z%3#e=f6^X#$E;ocOzG9qnx^lJ5M9F6LJxsm0MSBC
zwGDey+1H}he*$aA)`n}jK~rntK9+E_c*0Q@Efm%RyCBcOLZRDbWHg#}kh`{KYiZtv
zEt)L_N3*u~@;W6{xDIb`ty=r^+q2h-qY{$y+MY(C-c^r3jnaybCk4^1o}a5iiSz*+
z3i$b|rEKX30=9oo5w?C&LqGN5`MP>InFJ!*nH%fC%_QsH)A-=3GtPSG(t8wco$*gN
z;7`f+B7aMd+I7??oO@r=GHfZ{4MJ~cpZ!)U_Y<-X1i7V>Q~gjxF=xn*i)86b^6m(t
z;j7pmU3W7eM|}B4!M-1P$o*z{lQ>!0Vlpvw{Dr~6iWAWqYmC6wLGMbAlN=qDs{!sR
z7^Ng_<n2Gu4RVdlIF}^MJ$WbbP??knK??ni76dsJqy9HfHHEpQwtM3VePDhezD~*U
zRd4X|UY*AYpJsrhBHuo_OPp?N#exV$oi`~CD>2V$of_`e7kOt9J~0qdMu5oe?b(oe
zf&BcqC{Cz3qu8Wo(x~F-(B`srnOQE98aP`;-lRFIEGFdEgrQ!Oyc!w}uVWNO-#i|7
z|J?y%;5JyN28q~3gX3bEp%AOq&0=%cScshORF6m6YW0NWof!i9PWenPo^#`|Nwt9E
zt6Y9~)>)j~sGY7DnUUsfEf?Z%p~$$(ycEj$+ZlG*ApERPm*C4WY%e)bW6@o@rPgY|
z>VAp6bH6$AHvGLml6&6cFch$|SJ1-?aT2^`J;hDEi&ZhKngT@&`7Psv$)>tP4qMqu
zUy#=8t!t(^$4kw`yR)-W6Z@N`k=^r+{DpBjFFfl9%a0IAiyw{*1-<Roe)mw2f?6vK
z96v{1DJySt?wmujQj+g?nEgzSK$2Qde5QU~$~M*gk?Do9w3i;)2=URQoOk>!Cabd!
zRKVeu+O4lVc{57u5LUxPMVc+_2f37)EDBW$**nf#3Q4`R)cHu|{KP7zdcMKAJuA*S
zP3iSKs>8qi#Or?ae3K;_)!JrRQ6Voc|BLzwceku%fcD7UC!;<uPE`Iwn@cvXqrf~T
z{ORMKlMT_12OX|fhEG?|^tHBrcvdBf*LPJ^QG6CP2BE!+3YxxM*ECLl>VIUjSi>@*
zSTH<^_df1rQutfk`?6n8qqvTpB*@7eOj?)4bqkj7Yolg74$N;~mN^pE6B(Li_F*8T
zbo@oSD{-;nB>jtqLs|Mzv_hR(?krXQXFfK_b@FR*Sb~+P!8u{CnD+?}MD-%2M@O|*
z)`6VLtw2n(RmwdME6qnLiawwSzM^bewngun;a-w!!pU@%q%P-Kd>C?QSvfu?_i93Q
zo1Wk=DjXNGG0LBH;H=cpVbP@dcV1Dx1j8u5Pl6zrH}d%=o9E~^7!Q{FuqkxYLBg+x
zCZW%f3pP;iXUYbL*p#fLCs-HKUn*4x1(z6;+Ykv3e17?S1Hiq5mc9bl^m$R%ZO*?b
zmZ#>bLDW*Eau7Cbz2Qn}XJ@G#PN_FvZfE)nnf}J$?~4uEfGmp=wwIbnV`QJ^Ioz4z
zgI!PH4zPSaXjb&841pC|4;<$)D)yttLoP_!@z!Ed83>q}2ZB?Po!$CCl>tMeC$r*Q
zYG3-wA9k8yF|Bl~^ex{&*(1=kKV!w27alD?K3Cwkm_&BF>>e&NZvybxu*K0T=ezzm
zjS!yHw=u&7x?QN_ZCCF&#s-4aHpl|yv%<<1!iFMZp2I$7GbJo=04RSv2Jk`TUf+r+
zL%6Cy*$~tB^&zz#nX}YWGCWp(Bac)!M*6*UlWNB&L|D9lCQsm7fsKCU#<{Rn1-F&G
z%NC?;yvkFF-AJ4XCz##9guP$xLH9bC?H3dBtxxrAIEInH+L)}6?*rM&a_=2bI7=|3
z?<uqWxQAf4xm+rC$Z3-0f{+Y7cygYEzZ%LLO{KWed%}fN{TO?Yd4F{6cx)UT*f2p@
zf?&vF9q8$jy)xih7$?_RCYGsY08JJ=47?+ml|olR*CuJAQs<vK>frSw#bwO{gz!(t
z?we6RT^q8(H3?;B1bn%4va4&)K-^~@fPnaZhxxC2Ej}u*^w|+JqCCH%SQD58p-K%w
z<>Lxq@nog=m;-2{L@<<qmRn>CBY+~M>uB{^?S6cRGLOB{)#8&V^-5}@YeDVr$)RIP
z&yC6wR}X!$#k5OKESVOZ0SbG3g=Rm-&%}EEFi|AM1FjT;s3?{tJNEm^AiZFI{pHo~
zi(mjvla1PcjWaeg1VhwBb&;#<=S-1KLrAW1it1nZtu|Q-{c=lfQc_D{^+NMhVcoED
zeammL_9y;bCN7fr6ru2><5Y_w?`B8Ol}Oos{d59k<>fQ+RnJu|(eFBNk~8<_-1GSA
z(@=}0gAu(~5sd`YY^*^usoJpOo|F3#cM-Vp*-mo^5)_bc{5=vS9ICv}Z+!(zeNem9
zrA-DY^tgZIVDCLWBkrFr*}AHmOJ?Fm1+&J})+X?tt7?$Kh(&cVp{%_ppxD(^zcyE^
zMG*6DK(O)@Hr2j1?bxQ<(oBmW>0Z2VNiaNTxIAym44*67a;@}&Rv)6ZYWRUndMI$Q
z?cA?Vj=)a@<p_NK0|2rnTV*;7wT*7Soflv)JwiNigBm5LL0k-?)`4))OTAor=kCP0
z{0$P22IOcUC4CQ;<#<kjsTveo9ja(gFc!hvSM8}jGz84GdXXa_8e$bb(xal7o1vAU
zE{`-yb*m#ZSP6GNWUQn0P(EnKvG{sVxKd+Q2Rb2P;R-U~**=;bp-oP4ru198;%u_;
zOOW}ZI_lc=oYm5gg=NAnaM*DY@eds^&$x;Bz~9y0^znGcev<Z0KgpiC(my*=b!)9v
zJ2r+bD>Wd;JjXu2y003H76>5eeBDRm;xG`{;~`e8HY!Q?%5n=TCnK<dcDm(xMY+EM
zt3eD~quc{7s)Lp0gQB%;%)pR+;q~^wvbQ9P5^_qu_0jloYzok75`S9zUIUNlZ!Hxr
zATawM`Qo)wD?S5?`s-(9yUt{#<HfqZH1s`v!2PmY-~RQ}g1E_0rURy5WC{B4hdfTA
zp~{60Yf$_BnZf{qQh?tk#EWwDC{Mn9li6tVgq0hV>uyQ&Bh&!6#j=ki_2^d+ZEZNu
z9s)fLm@P}^L4Ci|Iz2Zdpzq^JIq<XehCe?pM>RbTF2}{-9_dk1GnEE6mXOTN7yy|z
zm=p=@%f?BQVGzcoQcmqTA0`UR&S;*;NYGO8?I{0+ixN|`y6r8afF4#TECpz7n&tgq
zVKCx`C}5(M9cZHMJ@!l^&gZo<6t>Bn$VO3|tuEP)bJYx0lSg&~47rdLFRB-)uWfI`
zY03-Mgj{=^y3I{EfXhn<P^YuvJ3xo;`u4iiD`u)w7j2|r*O@&s&68UrOJ2d78Dt<M
z{Rzr4N+6Ty){kX%xt?AIs+;0DsxWrJq85p&+m<-SRuoh~g4s)ajPDb_Gc(S7W$mI}
zO~l=GW!67G%*#*%a_;WB*<MD0T{po3+9IHqo~5R!LChYWu4qd<=%kaL6rTgkO&^Qt
z)|V}dch|iGn}K`KE;fG)URa7<@p&#TP_)CT&-Ri14$`ljA{e68{T~oNumNyE9pEIg
zD}K*2Jsbv-6qWVqZ$PZFLCmi5T*ZKU7fPjlK4{7Wz8g7MwlkAXOlQ8<67N1<gocN8
z9|1<PTr!^-dA%*m^`&X-g#jsOl>`Fc$Rqw*2kmkM4Bn%bo(*X?dMAr0VS(kIjuv=$
zV%kA#F-BLxSq^CwJV(IAmU?U3cz}StCQ$^7IRd}}7Yfuf-sjtORxXuz9u92eJS~mx
zze_Brq9tax^cGr^!S~oBa;<Wlh)#5R3S>p>!?2>|M_UHw`*&HJXvacMIv9z?Lc*9i
zorFX2{BxjORs#9kIE=W>{&$=UaHQ5RLq)b9-K=tk%GS5B>*0_vR(7Bg>Z|0rYgXyk
zXI-+T`Ha+kM;js%(zPB?U^Az3)or90!VHzXJDSsT3kL(S@QfA6y;6dI|8mJbBY(h6
zGVBm2B)`rO54*z-G7@R=1^`HTCGGm!-q=&y0%|t7z(8{%S;;^AiD**C@LSR7QBuvy
zz!U(Rls0VwC>9ydSUJL3bkx(c8xQK<it4|{sA)T?Q&g_IJ&0fw&Y>_tP!ks%v^9=r
zRLBRwX|?;b2KwTkFaJS0=zA5`W?GK1WJ14lNGd8VEp=!)zJ7OK{%d6?r{xLh(%<L|
z``k+{2R*(@cK$gFg~I-vQ2#k>X8`4&djtQUU4bATxRNi+xMdO+%g(rqQq86O)RK5`
zu5UGcS(wp$lZ}OPlO}iWIwQW>@o*CD$oG2E7?JO)2qILYVleMK<DmDcr5YqEh{HUD
zu?mi6ghEb^V@kRh=ed%*#Q>*G#!0Wu3mDArMOB*?<7Nr5k6GuF)QYmxrpZmB8*A=g
zxvsDn9<bk{pMvb17e55C_0n7P8O8uQR%#HvU>3;E+4U)KosM%dZs$5(43H^?9|mC@
zMBA`{Jm!9-J>!I$IL6#l@%7e%9fTn)%RU5!#Sh~3WcMT-)^~I_mNS9tFwjo%=Q}hk
wHg-GX0%AnyUbXU_*bg2f7!1HnLW$cjULKJg|6kGdjO(SES9C8IsN3BAFVcz!1ONa4

diff --git a/src/test/gtest_roi_ORB.cpp b/src/test/gtest_roi_ORB.cpp
index 2296cc5dd..9066d0323 100644
--- a/src/test/gtest_roi_ORB.cpp
+++ b/src/test/gtest_roi_ORB.cpp
@@ -36,20 +36,20 @@ TEST(RoiORB, LoadImageFromFile)
 }
 
 // Test_ORB.png image file has the following interest points that should be detected:
-// [ 65.6 , 100.6 ]
-// [ 164 , 100.6 ]
-// [ 266 , 100.6 ]
-// [ 365.2 , 100.6 ]
-// [ 467.04 , 101.32 ]
-// [ 565.6 , 100.6 ]
-// [ 71.6 , 237.8 ]
-// [ 164.8 , 237.8 ]
-// [ 251.36 , 239.24 ]
-// [ 330.2 , 237.8 ]
-// [ 349 , 270 ]
-// [ 584 , 237.8 ]
-// [ 467.2 , 455.4 ]
-// [ 566 , 455.4 ]
+// 0  [ 65.6 , 100.6 ]
+// 1  [ 164 , 100.6 ]
+// 2  [ 266 , 100.6 ]
+// 3  [ 365.2 , 100.6 ]
+// 4  [ 467.04 , 101.32 ]
+// 5  [ 565.6 , 100.6 ]
+// 6  [ 71.6 , 237.8 ]
+// 7  [ 164.8 , 237.8 ]
+// 8  [ 251.36 , 239.24 ]
+// 9  [ 330.2 , 237.8 ]
+// 10 [ 349 , 270 ]
+// 11 [ 584 , 237.8 ]
+// 12 [ 467.2 , 455.4 ]
+// 13 [ 566 , 455.4 ]
 std::vector<cv::Point2f> points_to_check({
     cv::Point2f(  65.6 , 100.6 ),
     cv::Point2f( 164   , 100.6 ),
@@ -227,8 +227,16 @@ TEST(RoiORB, RoiBounds)
     if (debug) for (auto p_pair : points_found)
         WOLF_DEBUG("kp " , p_pair.first , " at (" , p_pair.second.x , " , " , p_pair.second.y , " )" );
 
-    // check that at least all keypoints in the list have been detected
-    ASSERT_GE( points_found.size() , points_to_check.size() );
+    // check that at least all keypoints in the list except #10 have been detected
+    // (note: #10 is out of the ROI)
+    std::vector<int> v({0,1,2,3,4,5,6,7,8,9,11,12,13});
+    for (int n : v)
+    {
+        WOLF_DEBUG("Checking if we found point " , n , " ... " , (points_found.count(n) ? "YES": "NO"));
+        ASSERT_TRUE(points_found.count(n));
+    }
+    WOLF_DEBUG("Checking if we found point " , 10 , " ... " , (points_found.count(10) ? "YES": "NO"));
+    ASSERT_FALSE(points_found.count(10));
 
 }
 
-- 
GitLab