diff --git a/example/main.cpp b/example/main.cpp
index 3ad567c6..599c50bd 100644
--- a/example/main.cpp
+++ b/example/main.cpp
@@ -69,6 +69,7 @@ int main(int argc, char * argv[])
 		cv::FeatureDetector * detector = new cv::SIFT();
 		// cv::FeatureDetector * detector = new cv::StarFeatureDetector();
 		// cv::FeatureDetector * detector = new cv::SURF(600.0);
+		// cv::FeatureDetector * detector = new cv::BRISK();
 		detector->detect(objectImg, objectKeypoints);
 		printf("Object: %d keypoints detected in %d ms\n", (int)objectKeypoints.size(), time.restart());
 		detector->detect(sceneImg, sceneKeypoints);
@@ -82,6 +83,8 @@ int main(int argc, char * argv[])
 		// cv::DescriptorExtractor * extractor = new cv::ORB();
 		cv::DescriptorExtractor * extractor = new cv::SIFT();
 		// cv::DescriptorExtractor * extractor = new cv::SURF(600.0);
+		// cv::DescriptorExtractor * extractor = new cv::BRISK();
+		// cv::DescriptorExtractor * extractor = new cv::FREAK();
 		extractor->compute(objectImg, objectKeypoints, objectDescriptors);
 		printf("Object: %d descriptors extracted in %d ms\n", objectDescriptors.rows, time.restart());
 		extractor->compute(sceneImg, sceneKeypoints, sceneDescriptors);
@@ -98,8 +101,8 @@ int main(int argc, char * argv[])
 			// Binary descriptors detected (from ORB or Brief)
 
 			// Create Flann LSH index
-			cv::flann::Index flannIndex(sceneDescriptors, cv::flann::LshIndexParams(12, 20, 2));
-			printf("Time creating FLANN index = %d ms\n", time.restart());
+			cv::flann::Index flannIndex(sceneDescriptors, cv::flann::LshIndexParams(12, 20, 2), cvflann::FLANN_DIST_HAMMING);
+			printf("Time creating FLANN LSH index = %d ms\n", time.restart());
 			results = cv::Mat(objectDescriptors.rows, k, CV_32SC1); // Results index
 			dists = cv::Mat(objectDescriptors.rows, k, CV_32FC1); // Distance results are CV_32FC1 ?!?!? NOTE OpenCV doc is not clear about that...
 
@@ -112,8 +115,8 @@ int main(int argc, char * argv[])
 			// assume it is CV_32F
 
 			// Create Flann KDTree index
-			cv::flann::Index flannIndex(sceneDescriptors, cv::flann::KDTreeIndexParams());
-			printf("Time creating FLANN index = %d ms\n", time.restart());
+			cv::flann::Index flannIndex(sceneDescriptors, cv::flann::KDTreeIndexParams(), cvflann::FLANN_DIST_EUCLIDEAN);
+			printf("Time creating FLANN KDTree index = %d ms\n", time.restart());
 			results = cv::Mat(objectDescriptors.rows, k, CV_32SC1); // Results index
 			dists = cv::Mat(objectDescriptors.rows, k, CV_32FC1); // Distance results are CV_32FC1
 
diff --git a/src/MainWindow.cpp b/src/MainWindow.cpp
index fa44b0c4..7a120eaa 100644
--- a/src/MainWindow.cpp
+++ b/src/MainWindow.cpp
@@ -1163,8 +1163,8 @@ void MainWindow::notifyParametersChanged(const QStringList & paramChanged)
 		if(!detectorDescriptorParamsChanged &&
 		   ( iter->contains(currentDetectorType) ||
 		     iter->contains(currentDescriptorType) ||
-		     iter->compare(Settings::kDetector_Descriptor_1Detector()) == 0 ||
-		     iter->compare(Settings::kDetector_Descriptor_2Descriptor()) == 0 ))
+		     iter->compare(Settings::kFeature2D_1Detector()) == 0 ||
+		     iter->compare(Settings::kFeature2D_2Descriptor()) == 0 ))
 		{
 			detectorDescriptorParamsChanged = true;
 		}
diff --git a/src/ParametersToolBox.cpp b/src/ParametersToolBox.cpp
index e0166aaf..2eda263c 100644
--- a/src/ParametersToolBox.cpp
+++ b/src/ParametersToolBox.cpp
@@ -364,12 +364,15 @@ void ParametersToolBox::changeParameter(const int & value)
 		{
 			bool nnStrategyChanged = false;
 			//verify binary issue with nearest neighbor strategy
-			if(comboBox->objectName().compare(Settings::kDetector_Descriptor_2Descriptor()) == 0 ||
+			if(comboBox->objectName().compare(Settings::kFeature2D_2Descriptor()) == 0 ||
 			   comboBox->objectName().compare(Settings::kNearestNeighbor_1Strategy()) == 0)
 			{
-				QComboBox * descriptorBox = (QComboBox*)this->getParameterWidget(Settings::kDetector_Descriptor_2Descriptor());
+				QComboBox * descriptorBox = (QComboBox*)this->getParameterWidget(Settings::kFeature2D_2Descriptor());
 				QComboBox * nnBox = (QComboBox*)this->getParameterWidget(Settings::kNearestNeighbor_1Strategy());
-				bool isBinaryDescriptor = descriptorBox->currentText().compare("ORB") == 0 || descriptorBox->currentText().compare("Brief") == 0;
+				bool isBinaryDescriptor = descriptorBox->currentText().compare("ORB") == 0 ||
+										  descriptorBox->currentText().compare("Brief") == 0 ||
+										  descriptorBox->currentText().compare("BRISK") == 0 ||
+										  descriptorBox->currentText().compare("FREAK") == 0;
 				if(isBinaryDescriptor && nnBox->currentText().compare("Lsh") != 0)
 				{
 					QMessageBox::warning(this,
diff --git a/src/Settings.cpp b/src/Settings.cpp
index 67e0a66a..8405cd11 100644
--- a/src/Settings.cpp
+++ b/src/Settings.cpp
@@ -49,6 +49,17 @@ void Settings::loadSettings(const QString & fileName, QByteArray * windowGeometr
 		QVariant value = ini.value(key, QVariant());
 		if(value.isValid())
 		{
+			QString str = value.toString();
+			if(str.contains(";") && str.size() != getParameter(key).toString().size())
+			{
+				// If a string list is modified, update the value
+				// (assuming that index < 10... one character for index)
+				QChar index = str.at(0);
+				str = getParameter(key).toString();
+				str[0] = index.toAscii();
+				value = QVariant(str);
+				printf("Updated list of parameter \"%s\"\n", key.toStdString().c_str());
+			}
 			setParameter(key, value);
 		}
 	}
@@ -107,7 +118,7 @@ void Settings::saveSettings(const QString & fileName, const QByteArray & windowG
 cv::FeatureDetector * Settings::createFeaturesDetector()
 {
 	cv::FeatureDetector * detector = 0;
-	QString str = getDetector_Descriptor_1Detector();
+	QString str = getFeature2D_1Detector();
 	QStringList split = str.split(':');
 	if(split.size()==2)
 	{
@@ -116,7 +127,7 @@ cv::FeatureDetector * Settings::createFeaturesDetector()
 		if(ok)
 		{
 			QStringList strategies = split.last().split(';');
-			if(strategies.size() == 8 && index>=0 && index<8)
+			if(strategies.size() == 9 && index>=0 && index<9)
 			{
 				switch(index)
 				{
@@ -124,13 +135,13 @@ cv::FeatureDetector * Settings::createFeaturesDetector()
 					if(strategies.at(index).compare("Dense") == 0)
 					{
 						detector = new cv::DenseFeatureDetector(
-								getDetector_Descriptor_Dense_initFeatureScale(),
-								getDetector_Descriptor_Dense_featureScaleLevels(),
-								getDetector_Descriptor_Dense_featureScaleMul(),
-								getDetector_Descriptor_Dense_initXyStep(),
-								getDetector_Descriptor_Dense_initImgBound(),
-								getDetector_Descriptor_Dense_varyXyStepWithScale(),
-								getDetector_Descriptor_Dense_varyImgBoundWithScale());
+								getFeature2D_Dense_initFeatureScale(),
+								getFeature2D_Dense_featureScaleLevels(),
+								getFeature2D_Dense_featureScaleMul(),
+								getFeature2D_Dense_initXyStep(),
+								getFeature2D_Dense_initImgBound(),
+								getFeature2D_Dense_varyXyStepWithScale(),
+								getFeature2D_Dense_varyImgBoundWithScale());
 						if(VERBOSE)printf("Settings::createFeaturesDetector() type=%s\n", "Dense");
 					}
 					break;
@@ -138,8 +149,8 @@ cv::FeatureDetector * Settings::createFeaturesDetector()
 					if(strategies.at(index).compare("Fast") == 0)
 					{
 						detector = new cv::FastFeatureDetector(
-								getDetector_Descriptor_Fast_threshold(),
-								getDetector_Descriptor_Fast_nonmaxSuppression());
+								getFeature2D_Fast_threshold(),
+								getFeature2D_Fast_nonmaxSuppression());
 						if(VERBOSE)printf("Settings::createFeaturesDetector() type=%s\n", "Fast");
 					}
 					break;
@@ -147,12 +158,12 @@ cv::FeatureDetector * Settings::createFeaturesDetector()
 					if(strategies.at(index).compare("GFTT") == 0)
 					{
 						detector = new cv::GFTTDetector(
-								getDetector_Descriptor_GFTT_maxCorners(),
-								getDetector_Descriptor_GFTT_qualityLevel(),
-								getDetector_Descriptor_GFTT_minDistance(),
-								getDetector_Descriptor_GFTT_blockSize(),
-								getDetector_Descriptor_GFTT_useHarrisDetector(),
-								getDetector_Descriptor_GFTT_k());
+								getFeature2D_GFTT_maxCorners(),
+								getFeature2D_GFTT_qualityLevel(),
+								getFeature2D_GFTT_minDistance(),
+								getFeature2D_GFTT_blockSize(),
+								getFeature2D_GFTT_useHarrisDetector(),
+								getFeature2D_GFTT_k());
 						if(VERBOSE)printf("Settings::createFeaturesDetector() type=%s\n", "GFTT");
 					}
 					break;
@@ -160,15 +171,15 @@ cv::FeatureDetector * Settings::createFeaturesDetector()
 					if(strategies.at(index).compare("MSER") == 0)
 					{
 						detector = new cv::MSER(
-								getDetector_Descriptor_MSER_delta(),
-								getDetector_Descriptor_MSER_minArea(),
-								getDetector_Descriptor_MSER_maxArea(),
-								getDetector_Descriptor_MSER_maxVariation(),
-								getDetector_Descriptor_MSER_minDiversity(),
-								getDetector_Descriptor_MSER_maxEvolution(),
-								getDetector_Descriptor_MSER_areaThreshold(),
-								getDetector_Descriptor_MSER_minMargin(),
-								getDetector_Descriptor_MSER_edgeBlurSize());
+								getFeature2D_MSER_delta(),
+								getFeature2D_MSER_minArea(),
+								getFeature2D_MSER_maxArea(),
+								getFeature2D_MSER_maxVariation(),
+								getFeature2D_MSER_minDiversity(),
+								getFeature2D_MSER_maxEvolution(),
+								getFeature2D_MSER_areaThreshold(),
+								getFeature2D_MSER_minMargin(),
+								getFeature2D_MSER_edgeBlurSize());
 						if(VERBOSE)printf("Settings::createFeaturesDetector() type=%s\n", "MSER");
 					}
 					break;
@@ -176,14 +187,14 @@ cv::FeatureDetector * Settings::createFeaturesDetector()
 					if(strategies.at(index).compare("ORB") == 0)
 					{
 						detector = new cv::ORB(
-								getDetector_Descriptor_ORB_nFeatures(),
-								getDetector_Descriptor_ORB_scaleFactor(),
-								getDetector_Descriptor_ORB_nLevels(),
-								getDetector_Descriptor_ORB_edgeThreshold(),
-								getDetector_Descriptor_ORB_firstLevel(),
-								getDetector_Descriptor_ORB_WTA_K(),
-								getDetector_Descriptor_ORB_scoreType(),
-								getDetector_Descriptor_ORB_patchSize());
+								getFeature2D_ORB_nFeatures(),
+								getFeature2D_ORB_scaleFactor(),
+								getFeature2D_ORB_nLevels(),
+								getFeature2D_ORB_edgeThreshold(),
+								getFeature2D_ORB_firstLevel(),
+								getFeature2D_ORB_WTA_K(),
+								getFeature2D_ORB_scoreType(),
+								getFeature2D_ORB_patchSize());
 						if(VERBOSE)printf("Settings::createFeaturesDetector() type=%s\n", "ORB");
 					}
 					break;
@@ -191,11 +202,11 @@ cv::FeatureDetector * Settings::createFeaturesDetector()
 					if(strategies.at(index).compare("SIFT") == 0)
 					{
 						detector = new cv::SIFT(
-								getDetector_Descriptor_SIFT_nfeatures(),
-								getDetector_Descriptor_SIFT_nOctaveLayers(),
-								getDetector_Descriptor_SIFT_contrastThreshold(),
-								getDetector_Descriptor_SIFT_edgeThreshold(),
-								getDetector_Descriptor_SIFT_sigma());
+								getFeature2D_SIFT_nfeatures(),
+								getFeature2D_SIFT_nOctaveLayers(),
+								getFeature2D_SIFT_contrastThreshold(),
+								getFeature2D_SIFT_edgeThreshold(),
+								getFeature2D_SIFT_sigma());
 						if(VERBOSE)printf("Settings::createFeaturesDetector() type=%s\n", "SIFT");
 					}
 					break;
@@ -203,11 +214,11 @@ cv::FeatureDetector * Settings::createFeaturesDetector()
 					if(strategies.at(index).compare("Star") == 0)
 					{
 						detector = new cv::StarFeatureDetector(
-								getDetector_Descriptor_Star_maxSize(),
-								getDetector_Descriptor_Star_responseThreshold(),
-								getDetector_Descriptor_Star_lineThresholdProjected(),
-								getDetector_Descriptor_Star_lineThresholdBinarized(),
-								getDetector_Descriptor_Star_suppressNonmaxSize());
+								getFeature2D_Star_maxSize(),
+								getFeature2D_Star_responseThreshold(),
+								getFeature2D_Star_lineThresholdProjected(),
+								getFeature2D_Star_lineThresholdBinarized(),
+								getFeature2D_Star_suppressNonmaxSize());
 						if(VERBOSE)printf("Settings::createFeaturesDetector() type=%s\n", "Star");
 					}
 					break;
@@ -215,14 +226,24 @@ cv::FeatureDetector * Settings::createFeaturesDetector()
 					if(strategies.at(index).compare("SURF") == 0)
 					{
 						detector = new cv::SURF(
-								getDetector_Descriptor_SURF_hessianThreshold(),
-								getDetector_Descriptor_SURF_nOctaves(),
-								getDetector_Descriptor_SURF_nOctaveLayers(),
-								getDetector_Descriptor_SURF_extended(),
-								getDetector_Descriptor_SURF_upright());
+								getFeature2D_SURF_hessianThreshold(),
+								getFeature2D_SURF_nOctaves(),
+								getFeature2D_SURF_nOctaveLayers(),
+								getFeature2D_SURF_extended(),
+								getFeature2D_SURF_upright());
 						if(VERBOSE)printf("Settings::createFeaturesDetector() type=%s\n", "SURF");
 					}
 					break;
+				case 8:
+					if(strategies.at(index).compare("BRISK") == 0)
+					{
+						detector = new cv::BRISK(
+								getFeature2D_BRISK_thresh(),
+								getFeature2D_BRISK_octaves(),
+								getFeature2D_BRISK_patternScale());
+						if(VERBOSE)printf("Settings::createFeaturesDetector() type=%s\n", "BRISK");
+					}
+					break;
 				default:
 					break;
 				}
@@ -240,7 +261,7 @@ cv::FeatureDetector * Settings::createFeaturesDetector()
 cv::DescriptorExtractor * Settings::createDescriptorsExtractor()
 {
 	cv::DescriptorExtractor * extractor = 0;
-	QString str = getDetector_Descriptor_2Descriptor();
+	QString str = getFeature2D_2Descriptor();
 	QStringList split = str.split(':');
 	if(split.size()==2)
 	{
@@ -249,7 +270,7 @@ cv::DescriptorExtractor * Settings::createDescriptorsExtractor()
 		if(ok)
 		{
 			QStringList strategies = split.last().split(';');
-			if(strategies.size() == 4 && index>=0 && index<4)
+			if(strategies.size() == 6 && index>=0 && index<6)
 			{
 				switch(index)
 				{
@@ -257,7 +278,7 @@ cv::DescriptorExtractor * Settings::createDescriptorsExtractor()
 					if(strategies.at(index).compare("Brief") == 0)
 					{
 						extractor = new cv::BriefDescriptorExtractor(
-								getDetector_Descriptor_Brief_bytes());
+								getFeature2D_Brief_bytes());
 						if(VERBOSE)printf("Settings::createDescriptorsExtractor() type=%s\n", "Brief");
 					}
 					break;
@@ -265,14 +286,14 @@ cv::DescriptorExtractor * Settings::createDescriptorsExtractor()
 					if(strategies.at(index).compare("ORB") == 0)
 					{
 						extractor = new cv::ORB(
-								getDetector_Descriptor_ORB_nFeatures(),
-								getDetector_Descriptor_ORB_scaleFactor(),
-								getDetector_Descriptor_ORB_nLevels(),
-								getDetector_Descriptor_ORB_edgeThreshold(),
-								getDetector_Descriptor_ORB_firstLevel(),
-								getDetector_Descriptor_ORB_WTA_K(),
-								getDetector_Descriptor_ORB_scoreType(),
-								getDetector_Descriptor_ORB_patchSize());
+								getFeature2D_ORB_nFeatures(),
+								getFeature2D_ORB_scaleFactor(),
+								getFeature2D_ORB_nLevels(),
+								getFeature2D_ORB_edgeThreshold(),
+								getFeature2D_ORB_firstLevel(),
+								getFeature2D_ORB_WTA_K(),
+								getFeature2D_ORB_scoreType(),
+								getFeature2D_ORB_patchSize());
 						if(VERBOSE)printf("Settings::createDescriptorsExtractor() type=%s\n", "ORB");
 					}
 					break;
@@ -280,11 +301,11 @@ cv::DescriptorExtractor * Settings::createDescriptorsExtractor()
 					if(strategies.at(index).compare("SIFT") == 0)
 					{
 						extractor = new cv::SIFT(
-								getDetector_Descriptor_SIFT_nfeatures(),
-								getDetector_Descriptor_SIFT_nOctaveLayers(),
-								getDetector_Descriptor_SIFT_contrastThreshold(),
-								getDetector_Descriptor_SIFT_edgeThreshold(),
-								getDetector_Descriptor_SIFT_sigma());
+								getFeature2D_SIFT_nfeatures(),
+								getFeature2D_SIFT_nOctaveLayers(),
+								getFeature2D_SIFT_contrastThreshold(),
+								getFeature2D_SIFT_edgeThreshold(),
+								getFeature2D_SIFT_sigma());
 						if(VERBOSE)printf("Settings::createDescriptorsExtractor() type=%s\n", "SIFT");
 					}
 					break;
@@ -292,14 +313,35 @@ cv::DescriptorExtractor * Settings::createDescriptorsExtractor()
 					if(strategies.at(index).compare("SURF") == 0)
 					{
 						extractor = new cv::SURF(
-								getDetector_Descriptor_SURF_hessianThreshold(),
-								getDetector_Descriptor_SURF_nOctaves(),
-								getDetector_Descriptor_SURF_nOctaveLayers(),
-								getDetector_Descriptor_SURF_extended(),
-								getDetector_Descriptor_SURF_upright());
+								getFeature2D_SURF_hessianThreshold(),
+								getFeature2D_SURF_nOctaves(),
+								getFeature2D_SURF_nOctaveLayers(),
+								getFeature2D_SURF_extended(),
+								getFeature2D_SURF_upright());
 						if(VERBOSE)printf("Settings::createDescriptorsExtractor() type=%s\n", "SURF");
 					}
 					break;
+				case 4:
+					if(strategies.at(index).compare("BRISK") == 0)
+					{
+						extractor = new cv::BRISK(
+								getFeature2D_BRISK_thresh(),
+								getFeature2D_BRISK_octaves(),
+								getFeature2D_BRISK_patternScale());
+						if(VERBOSE)printf("Settings::createDescriptorsExtractor() type=%s\n", "BRISK");
+					}
+					break;
+				case 5:
+					if(strategies.at(index).compare("FREAK") == 0)
+					{
+						extractor = new cv::FREAK(
+								getFeature2D_FREAK_orientationNormalized(),
+								getFeature2D_FREAK_scaleNormalized(),
+								getFeature2D_FREAK_patternScale(),
+								getFeature2D_FREAK_nOctaves());
+						if(VERBOSE)printf("Settings::createDescriptorsExtractor() type=%s\n", "FREAK");
+					}
+					break;
 				default:
 					break;
 				}
@@ -316,14 +358,14 @@ cv::DescriptorExtractor * Settings::createDescriptorsExtractor()
 
 QString Settings::currentDetectorType()
 {
-	int index = getDetector_Descriptor_1Detector().split(':').first().toInt();
-	return getDetector_Descriptor_1Detector().split(':').last().split(';').at(index);
+	int index = getFeature2D_1Detector().split(':').first().toInt();
+	return getFeature2D_1Detector().split(':').last().split(';').at(index);
 }
 
 QString Settings::currentDescriptorType()
 {
-	int index = getDetector_Descriptor_2Descriptor().split(':').first().toInt();
-	return getDetector_Descriptor_2Descriptor().split(':').last().split(';').at(index);
+	int index = getFeature2D_2Descriptor().split(':').first().toInt();
+	return getFeature2D_2Descriptor().split(':').last().split(';').at(index);
 }
 
 QString Settings::currentNearestNeighborType()
diff --git a/src/Settings.h b/src/Settings.h
index e1a4150d..53a624f1 100644
--- a/src/Settings.h
+++ b/src/Settings.h
@@ -59,68 +59,77 @@ class Settings
 	PARAMETER(Camera, 5mediaPath, QString, "");
 
 	//List format : [Index:item0;item1;item3;...]
-	PARAMETER(Detector_Descriptor, 1Detector, QString, "7:Dense;Fast;GFTT;MSER;ORB;SIFT;Star;SURF");
-	PARAMETER(Detector_Descriptor, 2Descriptor, QString, "3:Brief;ORB;SIFT;SURF");
+	PARAMETER(Feature2D, 1Detector, QString, "7:Dense;Fast;GFTT;MSER;ORB;SIFT;Star;SURF;BRISK");
+	PARAMETER(Feature2D, 2Descriptor, QString, "3:Brief;ORB;SIFT;SURF;BRISK;FREAK");
 
-	PARAMETER(Detector_Descriptor, Brief_bytes, int, 32);
+	PARAMETER(Feature2D, Brief_bytes, int, 32);
 
-	PARAMETER(Detector_Descriptor, Dense_initFeatureScale, float, 1.f);
-	PARAMETER(Detector_Descriptor, Dense_featureScaleLevels, int, 1);
-	PARAMETER(Detector_Descriptor, Dense_featureScaleMul, float, 0.1f);
-	PARAMETER(Detector_Descriptor, Dense_initXyStep, int, 6);
-	PARAMETER(Detector_Descriptor, Dense_initImgBound, int, 0);
-	PARAMETER(Detector_Descriptor, Dense_varyXyStepWithScale, bool, true);
-	PARAMETER(Detector_Descriptor, Dense_varyImgBoundWithScale, bool, false);
+	PARAMETER(Feature2D, Dense_initFeatureScale, float, 1.f);
+	PARAMETER(Feature2D, Dense_featureScaleLevels, int, 1);
+	PARAMETER(Feature2D, Dense_featureScaleMul, float, 0.1f);
+	PARAMETER(Feature2D, Dense_initXyStep, int, 6);
+	PARAMETER(Feature2D, Dense_initImgBound, int, 0);
+	PARAMETER(Feature2D, Dense_varyXyStepWithScale, bool, true);
+	PARAMETER(Feature2D, Dense_varyImgBoundWithScale, bool, false);
 
-	PARAMETER(Detector_Descriptor, Fast_threshold, int, 10);
-	PARAMETER(Detector_Descriptor, Fast_nonmaxSuppression, bool, true);
+	PARAMETER(Feature2D, Fast_threshold, int, 10);
+	PARAMETER(Feature2D, Fast_nonmaxSuppression, bool, true);
 
-	PARAMETER(Detector_Descriptor, GFTT_maxCorners, int, 1000);
-	PARAMETER(Detector_Descriptor, GFTT_qualityLevel, double, 0.01);
-	PARAMETER(Detector_Descriptor, GFTT_minDistance, double, 1);
-	PARAMETER(Detector_Descriptor, GFTT_blockSize, int, 3);
-	PARAMETER(Detector_Descriptor, GFTT_useHarrisDetector, bool, false);
-	PARAMETER(Detector_Descriptor, GFTT_k, double, 0.04);
+	PARAMETER(Feature2D, GFTT_maxCorners, int, 1000);
+	PARAMETER(Feature2D, GFTT_qualityLevel, double, 0.01);
+	PARAMETER(Feature2D, GFTT_minDistance, double, 1);
+	PARAMETER(Feature2D, GFTT_blockSize, int, 3);
+	PARAMETER(Feature2D, GFTT_useHarrisDetector, bool, false);
+	PARAMETER(Feature2D, GFTT_k, double, 0.04);
 
-	PARAMETER(Detector_Descriptor, ORB_nFeatures, int, 500);
-	PARAMETER(Detector_Descriptor, ORB_scaleFactor, float,  1.2f);
-	PARAMETER(Detector_Descriptor, ORB_nLevels, int, 8);
-	PARAMETER(Detector_Descriptor, ORB_edgeThreshold, int, 31);
-	PARAMETER(Detector_Descriptor, ORB_firstLevel, int, 0);
-	PARAMETER(Detector_Descriptor, ORB_WTA_K, int, 2);
-	PARAMETER(Detector_Descriptor, ORB_scoreType, int, 0);
-	PARAMETER(Detector_Descriptor, ORB_patchSize, int, 31);
+	PARAMETER(Feature2D, ORB_nFeatures, int, 500);
+	PARAMETER(Feature2D, ORB_scaleFactor, float,  1.2f);
+	PARAMETER(Feature2D, ORB_nLevels, int, 8);
+	PARAMETER(Feature2D, ORB_edgeThreshold, int, 31);
+	PARAMETER(Feature2D, ORB_firstLevel, int, 0);
+	PARAMETER(Feature2D, ORB_WTA_K, int, 2);
+	PARAMETER(Feature2D, ORB_scoreType, int, 0);
+	PARAMETER(Feature2D, ORB_patchSize, int, 31);
 
-	PARAMETER(Detector_Descriptor, MSER_delta, int, 5);
-	PARAMETER(Detector_Descriptor, MSER_minArea, int, 60);
-	PARAMETER(Detector_Descriptor, MSER_maxArea, int, 14400);
-	PARAMETER(Detector_Descriptor, MSER_maxVariation, double, 0.25);
-	PARAMETER(Detector_Descriptor, MSER_minDiversity, double, 0.2);
-	PARAMETER(Detector_Descriptor, MSER_maxEvolution, int, 200);
-	PARAMETER(Detector_Descriptor, MSER_areaThreshold, double, 1.01);
-	PARAMETER(Detector_Descriptor, MSER_minMargin, double, 0.003);
-	PARAMETER(Detector_Descriptor, MSER_edgeBlurSize, int, 5);
+	PARAMETER(Feature2D, MSER_delta, int, 5);
+	PARAMETER(Feature2D, MSER_minArea, int, 60);
+	PARAMETER(Feature2D, MSER_maxArea, int, 14400);
+	PARAMETER(Feature2D, MSER_maxVariation, double, 0.25);
+	PARAMETER(Feature2D, MSER_minDiversity, double, 0.2);
+	PARAMETER(Feature2D, MSER_maxEvolution, int, 200);
+	PARAMETER(Feature2D, MSER_areaThreshold, double, 1.01);
+	PARAMETER(Feature2D, MSER_minMargin, double, 0.003);
+	PARAMETER(Feature2D, MSER_edgeBlurSize, int, 5);
 
-	PARAMETER(Detector_Descriptor, SIFT_nfeatures, int, 0);
-	PARAMETER(Detector_Descriptor, SIFT_nOctaveLayers, int, 3);
-	PARAMETER(Detector_Descriptor, SIFT_contrastThreshold, double, 0.04);
-	PARAMETER(Detector_Descriptor, SIFT_edgeThreshold, double, 10);
-	PARAMETER(Detector_Descriptor, SIFT_sigma, double, 1.6);
+	PARAMETER(Feature2D, SIFT_nfeatures, int, 0);
+	PARAMETER(Feature2D, SIFT_nOctaveLayers, int, 3);
+	PARAMETER(Feature2D, SIFT_contrastThreshold, double, 0.04);
+	PARAMETER(Feature2D, SIFT_edgeThreshold, double, 10);
+	PARAMETER(Feature2D, SIFT_sigma, double, 1.6);
 
-	PARAMETER(Detector_Descriptor, Star_maxSize, int, 45);
-	PARAMETER(Detector_Descriptor, Star_responseThreshold, int, 30);
-	PARAMETER(Detector_Descriptor, Star_lineThresholdProjected, int, 10);
-	PARAMETER(Detector_Descriptor, Star_lineThresholdBinarized, int, 8);
-	PARAMETER(Detector_Descriptor, Star_suppressNonmaxSize, int, 5);
+	PARAMETER(Feature2D, Star_maxSize, int, 45);
+	PARAMETER(Feature2D, Star_responseThreshold, int, 30);
+	PARAMETER(Feature2D, Star_lineThresholdProjected, int, 10);
+	PARAMETER(Feature2D, Star_lineThresholdBinarized, int, 8);
+	PARAMETER(Feature2D, Star_suppressNonmaxSize, int, 5);
 
-	PARAMETER(Detector_Descriptor, SURF_hessianThreshold, double, 600.0);
-	PARAMETER(Detector_Descriptor, SURF_nOctaves, int, 4);
-	PARAMETER(Detector_Descriptor, SURF_nOctaveLayers, int, 2);
-	PARAMETER(Detector_Descriptor, SURF_extended, bool, true);
-	PARAMETER(Detector_Descriptor, SURF_upright, bool, false);
+	PARAMETER(Feature2D, SURF_hessianThreshold, double, 600.0);
+	PARAMETER(Feature2D, SURF_nOctaves, int, 4);
+	PARAMETER(Feature2D, SURF_nOctaveLayers, int, 2);
+	PARAMETER(Feature2D, SURF_extended, bool, true);
+	PARAMETER(Feature2D, SURF_upright, bool, false);
+
+	PARAMETER(Feature2D, BRISK_thresh, int, 30);
+	PARAMETER(Feature2D, BRISK_octaves, int, 3);
+	PARAMETER(Feature2D, BRISK_patternScale, float, 1.0f);
+
+	PARAMETER(Feature2D, FREAK_orientationNormalized, bool, true);
+	PARAMETER(Feature2D, FREAK_scaleNormalized, bool, true);
+	PARAMETER(Feature2D, FREAK_patternScale, float, 22.0f);
+	PARAMETER(Feature2D, FREAK_nOctaves, int, 4);
 
 	PARAMETER(NearestNeighbor, 1Strategy, QString, "1:Linear;KDTree;KMeans;Composite;Autotuned;Lsh");
-	PARAMETER(NearestNeighbor, 2Distance_type, QString, "0:EUCLIDEAN_L2;MANHATTAN_L1;MINKOWSKI;MAX;HIST_INTERSECT;HELLINGER;CHI_SQUARE_CS;KULLBACK_LEIBLER_KL");
+	PARAMETER(NearestNeighbor, 2Distance_type, QString, "0:EUCLIDEAN_L2;MANHATTAN_L1;MINKOWSKI;MAX;HIST_INTERSECT;HELLINGER;CHI_SQUARE_CS;KULLBACK_LEIBLER_KL;HAMMING");
 	PARAMETER(NearestNeighbor, 3nndrRatioUsed, bool, true);
 	PARAMETER(NearestNeighbor, 4nndrRatio, float, 0.8f);
 	PARAMETER(NearestNeighbor, 5minDistanceUsed, bool, false);