diff --git a/include/find_object/ObjWidget.h b/include/find_object/ObjWidget.h
index 384052af..f81b664f 100644
--- a/include/find_object/ObjWidget.h
+++ b/include/find_object/ObjWidget.h
@@ -47,6 +47,7 @@ public:
 	void clearRoiSelection() {mousePressedPos_ = mouseCurrentPos_ = QPoint();update();}
 
 	int id() const {return id_;}
+	const QColor & color() const {return color_;}
 	const std::vector<cv::KeyPoint> keypoints() const {return keypoints_;}
 	const QPixmap & pixmap() const {return pixmap_;}
 	QColor defaultColor() const;
@@ -91,6 +92,7 @@ private:
 	bool graphicsViewInitialized_;
 	int alpha_;
 	QLabel * label_;
+	QColor color_;
 
 	// menu stuff
 	QString savedFileName_;
@@ -104,6 +106,7 @@ private:
 	QAction * autoScale_;
 	QAction * sizedFeatures_;
 	QAction * setAlpha_;
+	QAction * setColor_;
 
 	// selection stuff
 	QPoint mousePressedPos_;
diff --git a/src/FindObject.cpp b/src/FindObject.cpp
index 25169e29..1f3d0905 100644
--- a/src/FindObject.cpp
+++ b/src/FindObject.cpp
@@ -663,6 +663,7 @@ bool FindObject::detect(const cv::Mat & image, QMultiMap<int,QPair<QRect,QTransf
 		detector_->detect(grayscaleImg, sceneKeypoints_);
 		timeStamps_.insert(kTimeKeypointDetection, time.restart());
 
+		bool emptyScene = sceneKeypoints_.size() == 0;
 		if(sceneKeypoints_.size())
 		{
 			int maxFeatures = Settings::getFeature2D_3MaxFeatures();
@@ -678,10 +679,6 @@ bool FindObject::detect(const cv::Mat & image, QMultiMap<int,QPair<QRect,QTransf
 				UERROR("kpt=%d != descriptors=%d", (int)sceneKeypoints_.size(), sceneDescriptors_.rows);
 			}
 		}
-		else
-		{
-			UWARN("no features detected !?!");
-		}
 		timeStamps_.insert(kTimeDescriptorExtraction, time.restart());
 
 		bool consistentNNData = (vocabulary_->size()!=0 && vocabulary_->wordToObjects().begin().value()!=-1 && Settings::getGeneral_invertedSearch()) ||
@@ -938,6 +935,12 @@ bool FindObject::detect(const cv::Mat & image, QMultiMap<int,QPair<QRect,QTransf
 		{
 			UWARN("Cannot search, objects must be updated");
 		}
+		else if(emptyScene)
+		{
+			// Accept but warn the user
+			UWARN("No features detected in the scene!?!");
+			success = true;
+		}
 	}
 
 	objectsDetected_ = objectsDetected;
diff --git a/src/MainWindow.cpp b/src/MainWindow.cpp
index 56a31546..873b7094 100644
--- a/src/MainWindow.cpp
+++ b/src/MainWindow.cpp
@@ -950,12 +950,10 @@ void MainWindow::update(const cv::Mat & image)
 				ObjWidget * obj = objWidgets_.value(id);
 				Q_ASSERT(obj != 0);
 
-				int nColor = id % 11 + 7;
-				QColor color((Qt::GlobalColor)(nColor==Qt::yellow?Qt::gray:nColor));
 				for(QMultiMap<int, int>::const_iterator iter = jter.value().constBegin(); iter!= jter.value().constEnd(); ++iter)
 				{
-					obj->setKptColor(iter.key(), color);
-					ui_->imageView_source->setKptColor(iter.value(), color);
+					obj->setKptColor(iter.key(), obj->color());
+					ui_->imageView_source->setKptColor(iter.value(), obj->color());
 				}
 			}
 			else if(!objectsDetected.contains(id))
@@ -992,14 +990,11 @@ void MainWindow::update(const cv::Mat & image)
 			Q_ASSERT(obj != 0);
 
 			// COLORIZE (should be done in the GUI thread)
-			int nColor = id % 11 + 7;
-			QColor color((Qt::GlobalColor)(nColor==Qt::yellow?Qt::gray:nColor));
-
 			QTransform hTransform = iter.value().second;
 
 			QRect rect = obj->pixmap().rect();
 			// add rectangle
-			QPen rectPen(color);
+			QPen rectPen(obj->color());
 			rectPen.setWidth(Settings::getHomography_rectBorderWidth());
 			RectItem * rectItemScene = new RectItem(id, rect);
 			connect(rectItemScene, SIGNAL(hovered(int)), this, SLOT(rectHovered(int)));
@@ -1013,8 +1008,8 @@ void MainWindow::update(const cv::Mat & image)
 
 			for(QMultiMap<int, int>::const_iterator iter = inliersIter.value().constBegin(); iter!= inliersIter.value().constEnd(); ++iter)
 			{
-				obj->setKptColor(iter.key(), color);
-				ui_->imageView_source->setKptColor(iter.value(), color);
+				obj->setKptColor(iter.key(), obj->color());
+				ui_->imageView_source->setKptColor(iter.value(), obj->color());
 			}
 
 			QLabel * label = ui_->dockWidget_objects->findChild<QLabel*>(QString("%1detection").arg(id));
diff --git a/src/ObjWidget.cpp b/src/ObjWidget.cpp
index f7f7f886..baced542 100644
--- a/src/ObjWidget.cpp
+++ b/src/ObjWidget.cpp
@@ -24,6 +24,7 @@
 #include <QtGui/QInputDialog>
 #include <QtGui/QPen>
 #include <QtGui/QLabel>
+#include <QtGui/QColorDialog>
 
 #include <QtCore/QDir>
 
@@ -34,7 +35,8 @@ ObjWidget::ObjWidget(QWidget * parent) :
 	id_(0),
 	graphicsView_(0),
 	graphicsViewInitialized_(false),
-	alpha_(100)
+	alpha_(100),
+	color_(Qt::red)
 {
 	setupUi();
 }
@@ -43,7 +45,8 @@ ObjWidget::ObjWidget(int id, const std::vector<cv::KeyPoint> & keypoints, const
 	id_(id),
 	graphicsView_(0),
 	graphicsViewInitialized_(false),
-	alpha_(100)
+	alpha_(100),
+	color_(QColor((Qt::GlobalColor)((id % 11 + 7)==Qt::yellow?Qt::gray:(id % 11 + 7))))
 {
 	setupUi();
 	this->setData(keypoints, image);
@@ -89,6 +92,7 @@ void ObjWidget::setupUi()
 	sizedFeatures_->setCheckable(true);
 	sizedFeatures_->setChecked(false);
 	menu_->addSeparator();
+	setColor_ = menu_->addAction(tr("Set color..."));
 	setAlpha_ = menu_->addAction(tr("Set alpha..."));
 	menu_->addSeparator();
 	saveImage_ = menu_->addAction(tr("Save picture..."));
@@ -106,6 +110,7 @@ void ObjWidget::setupUi()
 
 void ObjWidget::setId(int id)
 {
+	color_ = QColor((Qt::GlobalColor)((id % 11 + 7)==Qt::yellow?Qt::gray:(id % 11 + 7)));
 	id_=id;
 	if(id_)
 	{
@@ -575,6 +580,35 @@ void ObjWidget::contextMenuEvent(QContextMenuEvent * event)
 	{
 		this->setSizedFeatures(sizedFeatures_->isChecked());
 	}
+	else if(action == setColor_)
+	{
+		QColor color = QColorDialog::getColor(color_, this);
+		if(color.isValid())
+		{
+			for(int i=0; i<kptColors_.size(); ++i)
+			{
+				if(kptColors_[i] == color_)
+				{
+					kptColors_[i] = color;
+					if(graphicsViewMode_->isChecked())
+					{
+						keypointItems_[i]->setColor(color);
+					}
+				}
+			}
+			for(int i=0; i<rectItems_.size(); ++i)
+			{
+				if(rectItems_[i]->pen().color() == color_)
+				{
+					QPen p = rectItems_[i]->pen();
+					p.setColor(color);
+					rectItems_[i]->setPen(p);
+				}
+			}
+			color_ = color;
+
+		}
+	}
 	else if(action == setAlpha_)
 	{
 		bool ok;