diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2e5e5d02..e473d033 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -37,12 +37,11 @@ ADD_DEFINITIONS(-DPROJECT_NAME="${PROJECT_NAME}")
 ####### DEPENDENCIES #######
 FIND_PACKAGE(OpenCV REQUIRED) # tested on 2.3.1
 
-SET(FINDOBJECT_QT_VERSION 4 CACHE STRING "Which QT version to use")
-IF("${FINDOBJECT_QT_VERSION}" STREQUAL "4")
+# look for Qt5 before Qt4
+FIND_PACKAGE(Qt5 COMPONENTS Widgets Core Gui Network QUIET)
+IF(NOT Qt5_FOUND)
    FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui QtNetwork REQUIRED)
-ELSE()
-   FIND_PACKAGE(Qt5 COMPONENTS Widgets Core Gui Network REQUIRED)
-ENDIF()
+ENDIF(NOT Qt5_FOUND)
 ADD_DEFINITIONS(-DQT_NO_KEYWORDS) # To avoid conflicts with boost signals used in ROS
 
 SET(NONFREE 0)
@@ -243,11 +242,11 @@ IF(NOT CATKIN_BUILD)
    ENDIF()
 
    IF(QT4_FOUND)
-      MESSAGE(STATUS "  With Qt = YES (version 4, \"-DFINDOBJECT_QT_VERSION=4\")")
+      MESSAGE(STATUS "  With Qt4 = YES")
    ELSEIF(Qt5_FOUND)
-      MESSAGE(STATUS "  With Qt = YES (version 5, \"-DFINDOBJECT_QT_VERSION=5\")")
+      MESSAGE(STATUS "  With Qt5 = YES")
    ELSE()
-      MESSAGE(STATUS "  With Qt = NO (Qt not found, to use Qt5 you should set -DFINDOBJECT_QT_VERSION=5)")
+      MESSAGE(STATUS "  With Qt = NO (Qt not found)")
    ENDIF()
 
    IF(APPLE)
diff --git a/app/CMakeLists.txt b/app/CMakeLists.txt
index 454079ad..2744bd9e 100644
--- a/app/CMakeLists.txt
+++ b/app/CMakeLists.txt
@@ -3,7 +3,7 @@ SET(headers_ui
 	TcpServerPool.h
 )
 
-IF("${FINDOBJECT_QT_VERSION}" STREQUAL "4")
+IF(QT4_FOUND)
     QT4_WRAP_CPP(moc_srcs ${headers_ui})
 ELSE()
     QT5_WRAP_CPP(moc_srcs ${headers_ui})
@@ -15,9 +15,9 @@ SET(INCLUDE_DIRS
 	${OpenCV_INCLUDE_DIRS}
 )
 
-IF("${FINDOBJECT_QT_VERSION}" STREQUAL "4")
+IF(QT4_FOUND)
     INCLUDE(${QT_USE_FILE})
-ENDIF()
+ENDIF(QT4_FOUND)
 
 SET(LIBRARIES
     ${QT_LIBRARIES} 
@@ -62,9 +62,9 @@ ELSE()
 ENDIF()
 # Linking with Qt libraries
 TARGET_LINK_LIBRARIES(find_object_app find_object ${LIBRARIES})
-IF("${FINDOBJECT_QT_VERSION}" STREQUAL "5")
+IF(Qt5_FOUND)
     QT5_USE_MODULES(find_object_app Widgets Core Gui Network PrintSupport)
-ENDIF()
+ENDIF(Qt5_FOUND)
 
 IF(APPLE AND BUILD_AS_BUNDLE)
   SET_TARGET_PROPERTIES(find_object_app PROPERTIES
diff --git a/example/CMakeLists.txt b/example/CMakeLists.txt
index 942ea940..61dd9fa6 100644
--- a/example/CMakeLists.txt
+++ b/example/CMakeLists.txt
@@ -9,9 +9,9 @@ SET(INCLUDE_DIRS
 	${CMAKE_CURRENT_SOURCE_DIR}/../include
 )
 
-IF("${FINDOBJECT_QT_VERSION}" STREQUAL "4")
+IF(QT4_FOUND)
     INCLUDE(${QT_USE_FILE})
-ENDIF()
+ENDIF(QT4_FOUND)
 
 SET(LIBRARIES
 	${OpenCV_LIBS} 
@@ -25,9 +25,9 @@ INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
 # The extension is automatically found.
 ADD_EXECUTABLE(example ${SRC_FILES})
 TARGET_LINK_LIBRARIES(example find_object ${LIBRARIES})
-IF("${FINDOBJECT_QT_VERSION}" STREQUAL "5")
+IF(Qt5_FOUND)
     QT5_USE_MODULES(example Widgets Core Gui Network PrintSupport)
-ENDIF()
+ENDIF(Qt5_FOUND)
 
 SET_TARGET_PROPERTIES( example 
   PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-example)
diff --git a/package.xml b/package.xml
index db189496..bd4bb952 100644
--- a/package.xml
+++ b/package.xml
@@ -5,7 +5,7 @@
   <description>The find_object_2d package</description>
 
   <maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
-  <license>LGPLv3</license>
+  <license>BSD</license>
   <url type="website">http://find-object.googlecode.com</url>
   <author email="matlabbe@gmail.com">Mathieu Labbe</author>
 
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 324c9192..651aab63 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -34,7 +34,7 @@ SET(qrc
    ./resources.qrc
 )
 
-IF("${FINDOBJECT_QT_VERSION}" STREQUAL "4")
+IF(QT4_FOUND)
     # generate rules for building source files from the resources
     QT4_ADD_RESOURCES(srcs_qrc ${qrc})
 
@@ -101,9 +101,9 @@ IF(CATKIN_BUILD)
    )
 ENDIF(CATKIN_BUILD)
 
-IF("${FINDOBJECT_QT_VERSION}" STREQUAL "4")
+IF(QT4_FOUND)
     INCLUDE(${QT_USE_FILE})
-ENDIF()
+ENDIF(QT4_FOUND)
 
 SET(LIBRARIES
    ${QT_LIBRARIES} 
@@ -123,9 +123,9 @@ INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
 ADD_LIBRARY(find_object ${SRC_FILES})
 # Linking with Qt libraries
 TARGET_LINK_LIBRARIES(find_object ${LIBRARIES})
-IF("${FINDOBJECT_QT_VERSION}" STREQUAL "5")
+IF(Qt5_FOUND)
     QT5_USE_MODULES(find_object Widgets Core Gui Network PrintSupport)
-ENDIF()
+ENDIF(Qt5_FOUND)
 IF(CATKIN_BUILD)
    set_target_properties(find_object PROPERTIES  OUTPUT_NAME find_object_2d)
 ENDIF(CATKIN_BUILD)
@@ -149,6 +149,12 @@ ELSE()
    add_executable(tf_example ros/tf_example_node.cpp)
    target_link_libraries(tf_example ${LIBRARIES})
    add_dependencies(tf_example ${${PROJECT_NAME}_EXPORTED_TARGETS})
+   
+   IF(Qt5_FOUND)
+      QT5_USE_MODULES(find_object_2d Widgets Core Gui Network PrintSupport)
+      QT5_USE_MODULES(print_objects_detected Widgets Core Gui Network PrintSupport)
+      QT5_USE_MODULES(tf_example Widgets Core Gui Network PrintSupport)
+   ENDIF(Qt5_FOUND)
 
    ## Mark executables and/or libraries for installation
    install(TARGETS 
diff --git a/src/Vocabulary.cpp b/src/Vocabulary.cpp
index e1e39271..c3b41906 100644
--- a/src/Vocabulary.cpp
+++ b/src/Vocabulary.cpp
@@ -30,6 +30,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "find_object/utilite/ULogger.h"
 #include "Vocabulary.h"
 #include <QtCore/QVector>
+#include <QDataStream>
 #include <stdio.h>
 #if CV_MAJOR_VERSION < 3
 #include <opencv2/gpu/gpu.hpp>
diff --git a/tools/tcpClient/CMakeLists.txt b/tools/tcpClient/CMakeLists.txt
index 425e895b..f65e59e1 100644
--- a/tools/tcpClient/CMakeLists.txt
+++ b/tools/tcpClient/CMakeLists.txt
@@ -3,7 +3,7 @@ SET(headers_ui
 	TcpClient.h
 )
 
-IF("${FINDOBJECT_QT_VERSION}" STREQUAL "4")
+IF(QT4_FOUND)
     QT4_WRAP_CPP(moc_srcs ${headers_ui})
 ELSE()
     QT5_WRAP_CPP(moc_srcs ${headers_ui})
@@ -21,9 +21,9 @@ SET(INCLUDE_DIRS
     ${OpenCV_INCLUDE_DIRS}
 )
 
-IF("${FINDOBJECT_QT_VERSION}" STREQUAL "4")
+IF(QT4_FOUND)
     INCLUDE(${QT_USE_FILE})
-ENDIF()
+ENDIF(QT4_FOUND)
 
 SET(LIBRARIES
 	${OpenCV_LIBS} 
@@ -37,9 +37,9 @@ INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
 # The extension is automatically found.
 ADD_EXECUTABLE(tcpClient ${SRC_FILES})
 TARGET_LINK_LIBRARIES(tcpClient ${LIBRARIES})
-IF("${FINDOBJECT_QT_VERSION}" STREQUAL "5")
+IF(Qt5_FOUND)
     QT5_USE_MODULES(tcpClient Widgets Core Gui Network PrintSupport)
-ENDIF()
+ENDIF(Qt5_FOUND)
 
 SET_TARGET_PROPERTIES( tcpClient 
   PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-tcpClient)
diff --git a/tools/tcpImagesServer/CMakeLists.txt b/tools/tcpImagesServer/CMakeLists.txt
index 84f82c88..043c7a0d 100644
--- a/tools/tcpImagesServer/CMakeLists.txt
+++ b/tools/tcpImagesServer/CMakeLists.txt
@@ -3,7 +3,7 @@ SET(headers_ui
 	ImagesTcpServer.h
 )
 
-IF("${FINDOBJECT_QT_VERSION}" STREQUAL "4")
+IF(QT4_FOUND)
     QT4_WRAP_CPP(moc_srcs ${headers_ui})
 ELSE()
     QT5_WRAP_CPP(moc_srcs ${headers_ui})
@@ -21,9 +21,9 @@ SET(INCLUDE_DIRS
     ${OpenCV_INCLUDE_DIRS}
 )
 
-IF("${FINDOBJECT_QT_VERSION}" STREQUAL "4")
+IF(QT4_FOUND)
     INCLUDE(${QT_USE_FILE})
-ENDIF()
+ENDIF(QT4_FOUND)
 
 SET(LIBRARIES
 	${OpenCV_LIBS} 
@@ -37,9 +37,9 @@ INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
 # The extension is automatically found.
 ADD_EXECUTABLE(tcpImagesServer ${SRC_FILES})
 TARGET_LINK_LIBRARIES(tcpImagesServer find_object ${LIBRARIES})
-IF("${FINDOBJECT_QT_VERSION}" STREQUAL "5")
+IF(Qt5_FOUND)
     QT5_USE_MODULES(tcpImagesServer Widgets Core Gui Network PrintSupport)
-ENDIF()
+ENDIF(Qt5_FOUND)
 
 SET_TARGET_PROPERTIES( tcpImagesServer 
   PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-tcpImagesServer)
diff --git a/tools/tcpRequest/CMakeLists.txt b/tools/tcpRequest/CMakeLists.txt
index 3bc7d7e5..42d76c08 100644
--- a/tools/tcpRequest/CMakeLists.txt
+++ b/tools/tcpRequest/CMakeLists.txt
@@ -3,7 +3,7 @@ SET(headers_ui
 	TcpResponse.h
 )
 
-IF("${FINDOBJECT_QT_VERSION}" STREQUAL "4")
+IF(QT4_FOUND)
     QT4_WRAP_CPP(moc_srcs ${headers_ui})
 ELSE()
     QT5_WRAP_CPP(moc_srcs ${headers_ui})
@@ -21,9 +21,9 @@ SET(INCLUDE_DIRS
     ${OpenCV_INCLUDE_DIRS}
 )
 
-IF("${FINDOBJECT_QT_VERSION}" STREQUAL "4")
+IF(QT4_FOUND)
     INCLUDE(${QT_USE_FILE})
-ENDIF()
+ENDIF(QT4_FOUND)
 
 
 SET(LIBRARIES
@@ -38,9 +38,9 @@ INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
 # The extension is automatically found.
 ADD_EXECUTABLE(tcpRequest ${SRC_FILES})
 TARGET_LINK_LIBRARIES(tcpRequest find_object ${LIBRARIES})
-IF("${FINDOBJECT_QT_VERSION}" STREQUAL "5")
+IF(Qt5_FOUND)
     QT5_USE_MODULES(tcpRequest Widgets Core Gui Network PrintSupport)
-ENDIF()
+ENDIF(Qt5_FOUND)
 
 SET_TARGET_PROPERTIES( tcpRequest 
   PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-tcpRequest)
diff --git a/tools/tcpService/CMakeLists.txt b/tools/tcpService/CMakeLists.txt
index 8c4b19be..09271ad7 100644
--- a/tools/tcpService/CMakeLists.txt
+++ b/tools/tcpService/CMakeLists.txt
@@ -9,9 +9,9 @@ SET(INCLUDE_DIRS
     ${OpenCV_INCLUDE_DIRS}
 )
 
-IF("${FINDOBJECT_QT_VERSION}" STREQUAL "4")
+IF(QT4_FOUND)
     INCLUDE(${QT_USE_FILE})
-ENDIF()
+ENDIF(QT4_FOUND)
 
 SET(LIBRARIES
 	${OpenCV_LIBS} 
@@ -25,9 +25,9 @@ INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
 # The extension is automatically found.
 ADD_EXECUTABLE(tcpService ${SRC_FILES})
 TARGET_LINK_LIBRARIES(tcpService find_object ${LIBRARIES})
-IF("${FINDOBJECT_QT_VERSION}" STREQUAL "5")
+IF(Qt5_FOUND)
     QT5_USE_MODULES(tcpService Widgets Core Gui Network PrintSupport)
-ENDIF()
+ENDIF(Qt5_FOUND)
 
 SET_TARGET_PROPERTIES( tcpService 
   PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-tcpService)