diff --git a/include/find_object/MainWindow.h b/include/find_object/MainWindow.h
index 392b4b2f..e2418bae 100644
--- a/include/find_object/MainWindow.h
+++ b/include/find_object/MainWindow.h
@@ -73,6 +73,7 @@ public:
 
 protected:
 	virtual void closeEvent(QCloseEvent * event);
+	virtual void keyPressEvent(QKeyEvent *event);
 
 public Q_SLOTS:
 	void startProcessing();
diff --git a/include/find_object/Settings.h b/include/find_object/Settings.h
index dab1f9b5..d90ce1c3 100644
--- a/include/find_object/Settings.h
+++ b/include/find_object/Settings.h
@@ -288,7 +288,11 @@ class FINDOBJECT_EXP Settings
 
 	PARAMETER(Homography, homographyComputed, bool, true, "Compute homography? On ROS, this is required to publish objects detected.");
 	PARAMETER(Homography, method, QString, "1:LMEDS;RANSAC;RHO", "Type of the robust estimation algorithm: least-median algorithm or RANSAC algorithm.");
-	PARAMETER(Homography, ransacReprojThr, double, 5.0, "Maximum allowed reprojection error to treat a point pair as an inlier (used in the RANSAC method only). It usually makes sense to set this parameter somewhere in the range of 1 to 10.");
+	PARAMETER(Homography, ransacReprojThr, double, 3.0, "Maximum allowed reprojection error to treat a point pair as an inlier (used in the RANSAC method only). It usually makes sense to set this parameter somewhere in the range of 1 to 10.");
+#if CV_MAJOR_VERSION >= 3
+	PARAMETER(Homography, maxIterations, int, 2000, "The maximum number of RANSAC iterations, 2000 is the maximum it can be.");
+	PARAMETER(Homography, confidence, double, 0.995, "Confidence level, between 0 and 1.");
+#endif
 	PARAMETER(Homography, minimumInliers, int, 10, "Minimum inliers to accept the homography. Value must be >= 4.");
 	PARAMETER(Homography, ignoreWhenAllInliers, bool, false, "Ignore homography when all features are inliers (sometimes when the homography doesn't converge, it returns the best homography with all features as inliers).");
 	PARAMETER(Homography, rectBorderWidth, int, 4, "Homography rectangle border width.");
diff --git a/src/FindObject.cpp b/src/FindObject.cpp
index 862f0df0..03d0706f 100644
--- a/src/FindObject.cpp
+++ b/src/FindObject.cpp
@@ -1251,11 +1251,21 @@ protected:
 			}
 
 			UDEBUG("Find homography... begin");
+#if CV_MAJOR_VERSION < 3
 			h_ = findHomography(mpts_1,
 					mpts_2,
 					Settings::getHomographyMethod(),
 					Settings::getHomography_ransacReprojThr(),
 					outlierMask_);
+#else
+			h_ = findHomography(mpts_1,
+					mpts_2,
+					Settings::getHomographyMethod(),
+					Settings::getHomography_ransacReprojThr(),
+					outlierMask_,
+					Settings::getHomography_maxIterations(),
+					Settings::getHomography_confidence());
+#endif
 			UDEBUG("Find homography... end");
 
 			UASSERT(outlierMask_.size() == 0 || outlierMask_.size() == mpts_1.size());
diff --git a/src/MainWindow.cpp b/src/MainWindow.cpp
index f7efc062..f23fe6cc 100644
--- a/src/MainWindow.cpp
+++ b/src/MainWindow.cpp
@@ -272,6 +272,8 @@ MainWindow::MainWindow(FindObject * findObject, Camera * camera, QWidget * paren
 	//Setup drag and drop images
 	connect(ui_->imageDrop_objects, SIGNAL(imagesReceived(const QStringList &)), this, SLOT(addObjectsFromFiles(const QStringList &)));
 	connect(ui_->imageDrop_scene, SIGNAL(imagesReceived(const QStringList &)), this, SLOT(loadSceneFromFile(const QStringList &)));
+
+	ui_->imageView_source->setFocus();
 }
 
 MainWindow::~MainWindow()
@@ -316,6 +318,22 @@ void MainWindow::closeEvent(QCloseEvent * event)
 	}
 }
 
+void MainWindow::keyPressEvent(QKeyEvent *event)
+{
+	//catch ctrl-s to save settings
+	if(event->key() == Qt::Key_Space)
+	{
+		if(ui_->actionStart_camera->isEnabled())
+		{
+			startProcessing();
+		}
+		else if(ui_->actionPause_camera->isEnabled())
+		{
+			pauseProcessing();
+		}
+	}
+}
+
 void MainWindow::setupTCPServer()
 {
 	if(tcpServer_)
diff --git a/src/ParametersToolBox.cpp b/src/ParametersToolBox.cpp
index e45608ef..71ac78f5 100644
--- a/src/ParametersToolBox.cpp
+++ b/src/ParametersToolBox.cpp
@@ -420,14 +420,47 @@ void ParametersToolBox::addParameter(QVBoxLayout * layout,
 		const double & value)
 {
 	QDoubleSpinBox * widget = new QDoubleSpinBox(this);
+	int decimals = 0;
+	int decimalValue = 0;
+
+	QString str = QString::number(Settings::getDefaultParameters().value(key).toDouble());
+	str.remove( QRegExp("0+$") );
+
+	if(!str.isEmpty())
+	{
+		str.replace(',', '.');
+		QStringList items = str.split('.');
+		if(items.size() == 2)
+		{
+			decimals = items.back().length();
+			decimalValue = items.back().toInt();
+		}
+	}
+
 	double def = Settings::getDefaultParameters().value(key).toDouble();
-	if(def<0.01)
+	if(def<0.001 || (decimals >= 4 && decimalValue>0))
+	{
+		widget->setDecimals(5);
+		widget->setSingleStep(0.0001);
+	}
+	else if(def<0.01 || (decimals >= 3 && decimalValue>0))
 	{
 		widget->setDecimals(4);
+		widget->setSingleStep(0.001);
 	}
-	else if(def<0.1)
+	else if(def<0.1 || (decimals >= 2 && decimalValue>0))
 	{
 		widget->setDecimals(3);
+		widget->setSingleStep(0.01);
+	}
+	else if(def<1.0 || (decimals >= 1 && decimalValue>0))
+	{
+		widget->setDecimals(2);
+		widget->setSingleStep(0.1);
+	}
+	else
+	{
+		widget->setDecimals(1);
 	}
 
 	if(def>0.0)