diff --git a/CMakeLists.txt b/CMakeLists.txt
index bdb08b0..a967f55 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -5,6 +5,22 @@ option(BUILD_DUtils   "Build DUtils (basic c++ functions)." ON)
 option(BUILD_DUtilsCV "Build DUtilsCV (OpenCV functions, requires DUtils)." ON)
 option(BUILD_DVision  "Build DVision (computer vision functions, requires DUtilsCV)." ON)
 
+if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
+  set(CMAKE_BUILD_TYPE Release CACHE STRING "Choose the type of build." FORCE)
+  set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug" "Release"
+    "MinSizeRel" "RelWithDebInfo")
+endif()
+
+if(MSVC)
+  if(CMAKE_CXX_FLAGS MATCHES "/W[0-4]")
+    string(REGEX REPLACE "/W[0-4]" "/W4" CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}")
+  else()
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /W4")
+  endif()
+elseif(CMAKE_COMPILER_IS_GNUCC OR CMAKE_COMPILER_IS_GNUCXX)
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -pedantic")
+endif()
+
 if(BUILD_DUtils)
   set(HDRS include/DUtils/
     include/DUtils/BinaryFile.h      include/DUtils/DUtils.h          include/DUtils/FileModes.h       include/DUtils/Math.hpp          
@@ -34,17 +50,23 @@ endif(BUILD_DUtilsCV)
 
 if(BUILD_DVision)
   set(HDRS
-    include/DVision/BRIEF.h          include/DVision/DVision.h        include/DVision/HSolver.h        include/DVision/Matches.h        
+    include/DVision/DVision.h        include/DVision/HSolver.h        include/DVision/Matches.h
     include/DVision/PMVSCamera.h     include/DVision/PixelPointFile.h
     include/DVision/BundleCamera.h   include/DVision/FSolver.h        include/DVision/ImageFunctions.h include/DVision/PLYFile.h        
     include/DVision/PatchFile.h      include/DVision/SurfSet.h
     ${HDRS})
   set(SRCS
-    src/DVision/BRIEF.cpp          src/DVision/FSolver.cpp        src/DVision/ImageFunctions.cpp src/DVision/PLYFile.cpp        
+    src/DVision/FSolver.cpp        src/DVision/ImageFunctions.cpp src/DVision/PLYFile.cpp
     src/DVision/PatchFile.cpp      src/DVision/SurfSet.cpp
     src/DVision/BundleCamera.cpp   src/DVision/HSolver.cpp        src/DVision/Matches.cpp        src/DVision/PMVSCamera.cpp     
     src/DVision/PixelPointFile.cpp
     ${SRCS})
+
+  find_package(Boost QUIET)  # For dynamic_bitset
+  if (Boost_FOUND)
+    set(HDRS include/DVision/BRIEF.h ${HDRS})
+    set(SRCS src/DVision/BRIEF.cpp ${SRCS})
+  endif(Boost_FOUND)
 endif(BUILD_DVision)
 
 
@@ -52,8 +74,13 @@ if(BUILD_DUtilsCV OR BUILD_DVision)
   find_package(OpenCV REQUIRED)
 endif(BUILD_DUtilsCV OR BUILD_DVision)
 
+set(LIB_SHARED "SHARED")
+if(WIN32)
+  set(LIB_SHARED "STATIC")
+endif(WIN32)
+
 include_directories(include/DUtils include/DUtilsCV include/DVision ${OpenCV_INCLUDE_DIRS})
-add_library(${PROJECT_NAME} SHARED ${SRCS})
+add_library(${PROJECT_NAME} ${LIB_SHARED} ${SRCS})
 target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBS})
 
 configure_file(src/DLib.cmake.in
diff --git a/include/DUtils/BinaryFile.h b/include/DUtils/BinaryFile.h
index 3766180..1494fe9 100644
--- a/include/DUtils/BinaryFile.h
+++ b/include/DUtils/BinaryFile.h
@@ -16,7 +16,6 @@
 #include "DException.h"
 #include "FileModes.h"
 #include <fstream>
-using namespace std;
 
 namespace DUtils {
 
@@ -49,7 +48,7 @@ class BinaryFile
 	 * @param mode: READ or WRITE
 	 * @throws DException if cannot open the file
 	 */
-	BinaryFile(const string &filename, const FILE_MODES mode);
+  BinaryFile(const std::string &filename, const FILE_MODES mode);
 
 	/**
 	 * Opens a file for reading. It closes any other opened file
@@ -63,7 +62,7 @@ class BinaryFile
 	 * @param filename
 	 * @throws DException if cannot open the file
 	 */
-	inline void OpenForReading(const string &filename)
+  inline void OpenForReading(const std::string &filename)
 	{
 		OpenForReading(filename.c_str());
 	}
@@ -80,7 +79,7 @@ class BinaryFile
 	 * @param filename
 	 * @throws DException if cannot create the file
 	 */
-	inline void OpenForWriting(const string &filename)
+  inline void OpenForWriting(const std::string &filename)
 	{
 		OpenForWriting(filename.c_str());
 	}
@@ -97,7 +96,7 @@ class BinaryFile
 	 * @param filename
 	 * @throws DException if cannot open the file
 	 */
-	inline void OpenForAppending(const string &filename)
+  inline void OpenForAppending(const std::string &filename)
 	{
 		OpenForAppending(filename.c_str());
 	}
@@ -241,7 +240,7 @@ class BinaryFile
   /// Opening mode
 	FILE_MODES m_mode;		// opening mode
 	/// File stream
-	fstream m_f;			// fstream
+  std::fstream m_f;			// fstream
 	/// Auxiliar buffer
 	char m_aux[8];	// auxiliar buffer
 
diff --git a/include/DUtils/ConfigFile.h b/include/DUtils/ConfigFile.h
index 548e0d3..8dfaed5 100644
--- a/include/DUtils/ConfigFile.h
+++ b/include/DUtils/ConfigFile.h
@@ -202,7 +202,7 @@ class ConfigFile
    * @param used the names of the tokens that cannot be replaced because of
    *   circular dependencies
    */
-  void resolveVar(std::string &value, const std::set<string> &used);
+  void resolveVar(std::string &value, const std::set<std::string> &used);
 	
 protected:
 
@@ -221,7 +221,7 @@ template<class T>
 T ConfigFile::getAnonymous(int n) const
 {
   const char U = '?';
-  stringstream ss;
+  std::stringstream ss;
   ss << U << n;
   return get<T>(ss.str().c_str());
 }
@@ -255,11 +255,11 @@ void ConfigFile::put(const std::string &name, const T &data)
 template<class T>
 void ConfigFile::put(const char *name, const T &data)
 {
-  pair<std::map<std::string, std::string>::iterator, bool> status;
+  std::pair<std::map<std::string, std::string>::iterator, bool> status;
   
   std::string value = StringFunctions::toString<T>(data);
   
-  status = m_data.insert(make_pair(name, value));
+  status = m_data.insert(std::make_pair(name, value));
   
   if(!status.second)
   {
diff --git a/include/DUtils/DException.h b/include/DUtils/DException.h
index c8e7450..4282bb4 100644
--- a/include/DUtils/DException.h
+++ b/include/DUtils/DException.h
@@ -15,13 +15,12 @@
 
 #include <stdexcept>
 #include <string>
-using namespace std;
 
 namespace DUtils {
 
 /// General exception
 class DException :
-	public exception
+  public std::exception
 {
 public:
 	/**
@@ -39,7 +38,7 @@ class DException :
 	 * Creates an exception with a custom error message
 	 * @param msg: message
 	 */
-	DException(const string &msg) throw(): m_message(msg){}
+  DException(const std::string &msg) throw(): m_message(msg){}
 
   /**
 	 * Destructor
@@ -56,7 +55,7 @@ class DException :
 
 protected:
   /// Error message
-	string m_message;
+  std::string m_message;
 };
 
 }
diff --git a/include/DUtils/DUtils.h b/include/DUtils/DUtils.h
index ab75640..7883a8a 100644
--- a/include/DUtils/DUtils.h
+++ b/include/DUtils/DUtils.h
@@ -16,7 +16,7 @@
  * Written by Dorian Galvez-Lopez,
  * University of Zaragoza
  * 
- * Check my website to obtain updates: http://webdiis.unizar.es/~dorian
+ * Check my website to obtain updates: http://doriangalvez.com
  *
  * \section license License
  * This program is free software: you can redistribute it and/or modify
diff --git a/include/DUtils/LineFile.h b/include/DUtils/LineFile.h
index ac49126..a3d0150 100644
--- a/include/DUtils/LineFile.h
+++ b/include/DUtils/LineFile.h
@@ -16,7 +16,6 @@
 #include "FileModes.h"
 #include <vector>
 #include <fstream>
-using namespace std;
 
 namespace DUtils {
 
@@ -48,7 +47,7 @@ class LineFile
 	 * @param mode: READ or WRITE
 	 * @throws DException if cannot open the file
 	 */
-	LineFile(const string &filename, const FILE_MODES mode);
+  LineFile(const std::string &filename, const FILE_MODES mode);
 
 	/**
 	 * Opens a file for reading. It closes any other opened file
@@ -62,7 +61,7 @@ class LineFile
 	 * @param filename
 	 * @throws DException if cannot create the file
 	 */
-	inline void OpenForReading(const string &filename)
+  inline void OpenForReading(const std::string &filename)
 	{
 		OpenForReading(filename.c_str());
 	}
@@ -79,7 +78,7 @@ class LineFile
 	 * @param filename
 	 * @throws DException if cannot create the file
 	 */
-	inline void OpenForWriting(const string &filename)
+  inline void OpenForWriting(const std::string &filename)
 	{
 		OpenForWriting(filename.c_str());
 	}
@@ -96,7 +95,7 @@ class LineFile
 	 * @param filename
 	 * @throws DException if cannot open the file
 	 */
-	inline void OpenForAppending(const string &filename)
+  inline void OpenForAppending(const std::string &filename)
 	{
 		OpenForAppending(filename.c_str());
 	}
@@ -125,7 +124,7 @@ class LineFile
 	 * Writes a line
 	 * @throws DException if wrong access mode
 	 */
-	inline LineFile& operator<< (const string &s)
+  inline LineFile& operator<< (const std::string &s)
 	{
 		return this->operator <<(s.c_str()); 
 	}
@@ -135,28 +134,28 @@ class LineFile
 	 * @param s: string to write on
 	 * @throws DException if wrong access mode
 	 */
-	LineFile& operator>> (string &s);
+  LineFile& operator>> (std::string &s);
 
   /**
    * Reads all the remaining lines in the file
    * @param v vector to store the lines in
    * @throws DException if wrong access mode
    */
-  LineFile& operator>> (vector<string> &v);
+  LineFile& operator>> (std::vector<std::string> &v);
 
 	/**
 	 * Writes several lines at a time
 	 * @param v: vector of line strings
 	 * @throws DException if wrong access mode
 	 */
-	void Dump(const vector<string> &v);
+  void Dump(const std::vector<std::string> &v);
 	
 	/**
 	 * Writes several lines at a time
 	 * @param v: vector of line strings
 	 * @throws DException if wrong access mode
 	 */
-	inline LineFile& operator<< (const vector<string> &v)
+  inline LineFile& operator<< (const std::vector<std::string> &v)
 	{
 		Dump(v);
 		return *this;
@@ -186,9 +185,9 @@ class LineFile
   /// Opening mode
 	FILE_MODES m_mode;		// opening mode
 	/// File stream
-	fstream m_f;			// fstream
+  std::fstream m_f;			// fstream
 	/// Next line to read
-	string m_next_line;	// next line to read
+  std::string m_next_line;	// next line to read
 };
 
 }
diff --git a/include/DUtils/Profiler.h b/include/DUtils/Profiler.h
index 3b00ce4..b756de9 100644
--- a/include/DUtils/Profiler.h
+++ b/include/DUtils/Profiler.h
@@ -200,7 +200,7 @@ class Profiler
    */
   void showStatistics(const std::string &name = "", 
     const std::string &suffix = "s", double scale = 1.,
-    ostream &out = std::cout) const;
+    std::ostream &out = std::cout) const;
 
 protected:
   
diff --git a/include/DUtils/STL.h b/include/DUtils/STL.h
index b885bd6..47aaad2 100644
--- a/include/DUtils/STL.h
+++ b/include/DUtils/STL.h
@@ -303,7 +303,7 @@ void STL::print(const std::vector<T> &v, const std::string &name,
     f << *vit << " ";
   }
   f << "]";
-  f << endl;
+  f << std::endl;
 }
 
 // ---------------------------------------------------------------------------
diff --git a/include/DUtils/Timestamp.h b/include/DUtils/Timestamp.h
index b92f89f..9717720 100644
--- a/include/DUtils/Timestamp.h
+++ b/include/DUtils/Timestamp.h
@@ -11,7 +11,6 @@
 #define __D_TIMESTAMP__
 
 #include <iostream>
-using namespace std;
 
 namespace DUtils {
 
@@ -78,7 +77,7 @@ class Timestamp
 	 * Sets the timestamp from a string with the time in seconds
 	 * @param stime: string such as "1235603336.036609"
 	 */
-	void setTime(const string &stime);
+  void setTime(const std::string &stime);
 	
 	/**
 	 * Sets the timestamp from a number of seconds from the epoch
@@ -94,7 +93,7 @@ class Timestamp
 	/**
 	 * Returns this timestamp as the number of seconds in fixed length string format
 	 */
-	string getStringTime() const;
+  std::string getStringTime() const;
 
 	/**
 	 * Returns the difference in seconds between this timestamp (greater) and t (smaller)
@@ -181,14 +180,14 @@ class Timestamp
    * @note This has not been tested under Windows
    * @note The timestamp is truncated to seconds
    */
-  string Format(bool machine_friendly = false) const;
+  std::string Format(bool machine_friendly = false) const;
 
 	/**
 	 * Returns a string version of the elapsed time in seconds, with the format
 	 * xd hh:mm:ss, hh:mm:ss, mm:ss or s.us
 	 * @param s: elapsed seconds (given by getFloatTime) to format
 	 */
-	static string Format(double s);
+  static std::string Format(double s);
 	
 
 protected:
diff --git a/include/DUtilsCV/CvVersion.h b/include/DUtilsCV/CvVersion.h
deleted file mode 100644
index 334f675..0000000
--- a/include/DUtilsCV/CvVersion.h
+++ /dev/null
@@ -1,27 +0,0 @@
-/**
- * File: CvVersion.h
- * Project: 
- * Author: Dorian Galvez-Lopez
- * Date: February 3, 2013
- * Description: Checks OpenCV version
- * License: see the LICENSE.txt file
- *
- */
-
-#include <opencv/cv.h>
-
-#if !CV22 && !CV23 && !CV24
-  #if CV_MAJOR_VERSION == 2
-    #if CV_MINOR_VERSION == 2
-      #define CV22 1
-    #elif CV_MINOR_VERSION == 3
-      #define CV23 1
-    #elif CV_MINOR_VERSION == 4
-      #define CV24 1
-    #endif
-  #else
-    #define CV30 1
-  #endif
-#endif
-
-
diff --git a/include/DUtilsCV/DUtilsCV.h b/include/DUtilsCV/DUtilsCV.h
index 40c877f..2d5d41f 100644
--- a/include/DUtilsCV/DUtilsCV.h
+++ b/include/DUtilsCV/DUtilsCV.h
@@ -16,7 +16,7 @@
  * Written by Dorian Galvez-Lopez,
  * University of Zaragoza
  * 
- * Check my website to obtain updates: http://webdiis.unizar.es/~dorian
+ * Check my website to obtain updates: http://doriangalvez.com
  *
  * \section requirements Requirements
  * This library requires the DUtils library and the OpenCV library.
@@ -56,8 +56,5 @@ namespace DUtilsCV
 #include "Transformations.h"
 #include "Geometry.h"
 
-// CV version
-#include "CvVersion.h"
-
 #endif
 
diff --git a/include/DUtilsCV/Drawing.h b/include/DUtilsCV/Drawing.h
index a9acb35..4ca41b3 100644
--- a/include/DUtilsCV/Drawing.h
+++ b/include/DUtilsCV/Drawing.h
@@ -12,7 +12,8 @@
 #define __D_CV_DRAWING__
 
 #include <vector>
-#include <opencv/cv.h>
+#include <opencv2/core.hpp>
+#include <opencv2/imgproc.hpp>
 
 namespace DUtilsCV
 {
diff --git a/include/DUtilsCV/GUI.h b/include/DUtilsCV/GUI.h
index 690f221..8fe156d 100644
--- a/include/DUtilsCV/GUI.h
+++ b/include/DUtilsCV/GUI.h
@@ -13,7 +13,7 @@
 
 #include <vector>
 #include <queue>
-#include <opencv/cv.h>
+#include <opencv2/core.hpp>
 #include <string>
 
 namespace DUtilsCV
diff --git a/include/DUtilsCV/Geometry.h b/include/DUtilsCV/Geometry.h
index 15da524..8d85141 100644
--- a/include/DUtilsCV/Geometry.h
+++ b/include/DUtilsCV/Geometry.h
@@ -11,7 +11,7 @@
 #ifndef __D_CV_GEOMETRY__
 #define __D_CV_GEOMETRY__
 
-#include <opencv/cv.h>
+#include <opencv2/core.hpp>
 
 namespace DUtilsCV
 {
diff --git a/include/DUtilsCV/IO.h b/include/DUtilsCV/IO.h
index d7996fe..4454801 100644
--- a/include/DUtilsCV/IO.h
+++ b/include/DUtilsCV/IO.h
@@ -13,8 +13,7 @@
 
 #include <iostream>
 #include <vector>
-#include <opencv/cv.h>
-#include <opencv2/legacy/legacy.hpp>
+#include <opencv2/core.hpp>
 #include <string>
 
 namespace DUtilsCV
@@ -104,26 +103,6 @@ class IO
     const std::string &nodename = "data");
   
   // Save and Load functions to make calling easier
-  
-  /**
-   * Saves a fern classifier
-   * @param filename
-   * @param c
-   * @param nodename
-   */
-  inline static void save(const std::string &filename, 
-    const cv::FernClassifier &c,
-    const std::string &nodename = "fern_classifier");
-
-  /**
-   * Loads a fern classifier
-   * @param filename
-   * @param c
-   * @param nodename
-   */
-  inline static void load(const std::string &filename, 
-    cv::FernClassifier &c,
-    const std::string &nodename = "fern_classifier");
 
 };
 
@@ -167,24 +146,6 @@ void IO::load(const std::string &filename, T& c,
 
 // ---------------------------------------------------------------------------
 
-inline void IO::save(const std::string &filename, 
-    const cv::FernClassifier &c,
-    const std::string &nodename)
-{
-  IO::save<cv::FernClassifier>(filename, c, nodename);
-}
-
-// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
-
-inline void IO::load(const std::string &filename, 
-    cv::FernClassifier &c,
-    const std::string &nodename)
-{
-  IO::load<cv::FernClassifier>(filename, c, nodename);
-}
-
-// ---------------------------------------------------------------------------
-
 }
 
 #endif
diff --git a/include/DUtilsCV/Mat.h b/include/DUtilsCV/Mat.h
index ad59f0d..7ea76d9 100644
--- a/include/DUtilsCV/Mat.h
+++ b/include/DUtilsCV/Mat.h
@@ -11,7 +11,7 @@
 #ifndef __D_CV_MAT__
 #define __D_CV_MAT__
 
-#include <opencv/cv.h>
+#include <opencv2/core.hpp>
 #include <vector>
 
 namespace DUtilsCV
diff --git a/include/DUtilsCV/Transformations.h b/include/DUtilsCV/Transformations.h
index 4413476..253d0c9 100644
--- a/include/DUtilsCV/Transformations.h
+++ b/include/DUtilsCV/Transformations.h
@@ -11,7 +11,7 @@
 #ifndef __TRANSFORMATIONS__
 #define __TRANSFORMATIONS__
 
-#include <opencv/cv.h>
+#include <opencv2/core.hpp>
 
 namespace DUtilsCV {
 
diff --git a/include/DUtilsCV/Types.h b/include/DUtilsCV/Types.h
index 6bc9024..ba2284c 100644
--- a/include/DUtilsCV/Types.h
+++ b/include/DUtilsCV/Types.h
@@ -11,7 +11,7 @@
 #ifndef __D_CV_TYPES__
 #define __D_CV_TYPES__
 
-#include <opencv/cv.h>
+#include <opencv2/core.hpp>
 #include <string>
 
 namespace DUtilsCV
diff --git a/include/DVision/BRIEF.h b/include/DVision/BRIEF.h
index 1ae244b..eec1c54 100644
--- a/include/DVision/BRIEF.h
+++ b/include/DVision/BRIEF.h
@@ -29,7 +29,7 @@
 #ifndef __D_BRIEF__
 #define __D_BRIEF__
 
-#include <opencv/cv.h>
+#include <opencv2/core.hpp>
 #include <vector>
 #include <boost/dynamic_bitset.hpp>
 
@@ -47,7 +47,7 @@ class BRIEF
   enum Type
   {
     RANDOM, // random pairs (Calonder's original version)
-    RANDOM_CLOSE, // random but close pairs (used in GalvezIROS11)
+    RANDOM_CLOSE // random but close pairs (used in GalvezIROS11)
   };
   
 public:
diff --git a/include/DVision/BundleCamera.h b/include/DVision/BundleCamera.h
index 8720980..f9f0f3f 100644
--- a/include/DVision/BundleCamera.h
+++ b/include/DVision/BundleCamera.h
@@ -12,7 +12,7 @@
 #define __BUNDLE_CAMERA__
 
 #include <vector>
-#include <opencv/cv.h>
+#include <opencv2/core.hpp>
 #include <string>
 #include <fstream>
  
diff --git a/include/DVision/DVision.h b/include/DVision/DVision.h
index 40bcc54..b26b00d 100644
--- a/include/DVision/DVision.h
+++ b/include/DVision/DVision.h
@@ -16,7 +16,7 @@
  * Written by Dorian Galvez-Lopez,
  * University of Zaragoza
  * 
- * Check my website to obtain updates: http://webdiis.unizar.es/~dorian
+ * Check my website to obtain updates: http://doriangalvez.com
  *
  * \section requirements Requirements
  * This library requires the DUtils and DUtilsCV libraries and the OpenCV library.
diff --git a/include/DVision/FSolver.h b/include/DVision/FSolver.h
index 0e9586a..8c6c011 100644
--- a/include/DVision/FSolver.h
+++ b/include/DVision/FSolver.h
@@ -11,7 +11,7 @@
 #ifndef __D_F_SOLVER__
 #define __D_F_SOLVER__
 
-#include <opencv/cv.h>
+#include <opencv2/core.hpp>
 #include <vector>
 
 namespace DVision {
diff --git a/include/DVision/HSolver.h b/include/DVision/HSolver.h
index 1b1519b..2331590 100644
--- a/include/DVision/HSolver.h
+++ b/include/DVision/HSolver.h
@@ -11,7 +11,7 @@
 #ifndef __D_H_SOLVER__
 #define __D_H_SOLVER__
 
-#include <opencv/cv.h>
+#include <opencv2/core.hpp>
 #include <vector>
 #include "FSolver.h"
 
diff --git a/include/DVision/ImageFunctions.h b/include/DVision/ImageFunctions.h
index 2215526..562d03d 100644
--- a/include/DVision/ImageFunctions.h
+++ b/include/DVision/ImageFunctions.h
@@ -11,7 +11,7 @@
 #ifndef __D_IMAGE_FUNCTIONS__
 #define __D_IMAGE_FUNCTIONS__
 
-#include <opencv/cv.h>
+#include <opencv2/core.hpp>
 
 namespace DVision {
 
diff --git a/include/DVision/PMVSCamera.h b/include/DVision/PMVSCamera.h
index 5701367..7cd516b 100644
--- a/include/DVision/PMVSCamera.h
+++ b/include/DVision/PMVSCamera.h
@@ -12,7 +12,7 @@
 #define __PMVS_CAMERA__
  
 #include <vector>
-#include <opencv/cv.h>
+#include <opencv2/core.hpp>
 #include <string>
  
 namespace DVision {
diff --git a/include/DVision/SurfSet.h b/include/DVision/SurfSet.h
index 0ca6ffe..7e49bb2 100644
--- a/include/DVision/SurfSet.h
+++ b/include/DVision/SurfSet.h
@@ -17,12 +17,8 @@
 #ifndef __D_SURF_SET__
 #define __D_SURF_SET__
 
-// Set if U-SURF is supported by Opencv (probably by applying this patch:
-// https://code.ros.org/trac/opencv/ticket/825 )
-#define USURF_SUPPORTED 0
-
-#include <opencv/cv.h>
-#include <opencv/highgui.h>
+#include <opencv2/core.hpp>
+#include <opencv2/features2d.hpp>
 #include <vector>
 #include <string>
 
@@ -55,11 +51,8 @@ class SurfSet
 	void Extract(const cv::Mat &image, 
 		double hessianTh = 400.0, bool extended = false);
 
-#if USURF_SUPPORTED
 	/** 
 	 * Extract U-SURF points from an image
-	 * NOTE: this function is only available if opencv supports U-SURF
-   * (by applying the corresponding patch)
 	 * @param image
 	 * @param surf surf data
 	 * @param hessianTh hessian threshold
@@ -68,7 +61,6 @@ class SurfSet
 	 */
 	void _ExtractUpright(const cv::Mat &image, 
 		double hessianTh = 400.0, bool extended = false);
-#endif
 
   /**
    * Copies the given keypoints and computes their SURF descriptors
@@ -80,11 +72,8 @@ class SurfSet
   void Compute(const cv::Mat &image,
     const std::vector<cv::KeyPoint> &keypoints, bool extended = false);
 
-#if USURF_SUPPORTED  
   /**
    * Copies the given keypoints and computes their U-SURF descriptors
-   * NOTE: this function is only available if opencv supports U-SURF
-   * (by applying the corresponding patch)
    * @param image
    * @param keypoints
    * @param extended if true, 128-dimensional surf are used instead of 64-d
@@ -92,7 +81,6 @@ class SurfSet
    */
   void _ComputeUpright(const cv::Mat &image,
     const std::vector<cv::KeyPoint> &keypoints, bool extended = false);
-#endif
   
   /**
    * Returns the length of the descriptor vectors of the SURF features
@@ -228,13 +216,27 @@ class SurfSet
 
 protected:
 
+  struct SURFParams {
+    float hessianThreshold;
+    bool extended;
+    bool upright;
+    int nOctaves;
+    int nOctaveLayers;
+
+    SURFParams(float hessianThreshold = 400, bool extended = false,
+               bool upright = false,
+               int nOctaves = 4, int nOctaveLayers = 3)
+      : hessianThreshold(hessianThreshold), extended(extended),
+        upright(upright), nOctaves(nOctaves), nOctaveLayers(nOctaveLayers) {}
+  };
+
   /**
    * Performs the actual extraction with the provided parameters
    * @param image
    * @param params surf detector params
    * @see SurfSet::Extract
    */
-  void extract(const cv::Mat &image, const CvSURFParams &params);
+  void extract(const cv::Mat &image, const SURFParams &params);
 
   /**
    * Performs the actual computation with the provided parameters
@@ -244,7 +246,7 @@ class SurfSet
    * @see SurfSet::Compute
    */
   void compute(const cv::Mat &image,
-    const std::vector<cv::KeyPoint> &keypoints, const CvSURFParams &params);
+    const std::vector<cv::KeyPoint> &keypoints, const SURFParams &params);
 
 	/** 
 	 * Calculates the square distance between two descriptors
@@ -290,7 +292,7 @@ class SurfSet
    * @note This function is copied from the opencv surf.cpp file, written
    *    by Liu Liu
    */
-  int getPointOctave(const CvSURFPoint& kpt, const CvSURFParams& params) const;
+  int getPointOctave(const cv::KeyPoint& kpt, const SURFParams& params) const;
 
 protected:
   
diff --git a/src/DLib.cmake.in b/src/DLib.cmake.in
index 86de2a4..42a8cd5 100644
--- a/src/DLib.cmake.in
+++ b/src/DLib.cmake.in
@@ -4,8 +4,9 @@ FIND_LIBRARY(DLib_LIBRARY DLib
 FIND_PATH(DLib_INCLUDE_DIR DLibConfig.cmake
     PATHS @CMAKE_INSTALL_PREFIX@/include/@PROJECT_NAME@ 
 )
-LIST(APPEND DLib_INCLUDE_DIR ${DLib_INCLUDE_DIR}/../DUtils 
+LIST(APPEND DLib_INCLUDE_DIR
+  ${DLib_INCLUDE_DIR}/../ ${DLib_INCLUDE_DIR}/../DUtils
   ${DLib_INCLUDE_DIR}/../DUtilsCV ${DLib_INCLUDE_DIR}/../DVision)
 SET(DLib_LIBRARIES ${DLib_LIBRARY})
 SET(DLib_LIBS ${DLib_LIBRARY})
-SET(DLib_INCLUDE_DIRS ${DLib_INCLUDE_DIR})
\ No newline at end of file
+SET(DLib_INCLUDE_DIRS ${DLib_INCLUDE_DIR})
diff --git a/src/DUtils/BinaryFile.cpp b/src/DUtils/BinaryFile.cpp
index 029c689..532a7db 100644
--- a/src/DUtils/BinaryFile.cpp
+++ b/src/DUtils/BinaryFile.cpp
@@ -57,7 +57,7 @@ BinaryFile::BinaryFile(const char *filename, const FILE_MODES mode)
 	Init(filename, mode);
 }
 
-BinaryFile::BinaryFile(const string &filename, const FILE_MODES mode)
+BinaryFile::BinaryFile(const std::string &filename, const FILE_MODES mode)
 {
 	Init(filename.c_str(), mode);
 }
@@ -82,9 +82,9 @@ void BinaryFile::OpenForReading(const char *filename)
 {
 	Close();
 
-	m_f.open(filename, ios::in | ios::binary);
+  m_f.open(filename, std::ios::in | std::ios::binary);
 	if(!m_f.is_open()){
-		throw DException(string("Cannot open ") + filename + " for reading");
+    throw DException(std::string("Cannot open ") + filename + " for reading");
 	}else{
 		m_mode = READ;
 	}
@@ -94,9 +94,9 @@ void BinaryFile::OpenForWriting(const char *filename)
 {
 	Close();
 	
-	m_f.open(filename, ios::out | ios::binary);
+  m_f.open(filename, std::ios::out | std::ios::binary);
 	if(!m_f.is_open()){
-		throw DException(string("Cannot open ") + filename + " for writing");
+    throw DException(std::string("Cannot open ") + filename + " for writing");
 	}else{
 		m_mode = WRITE;
 	}
@@ -106,9 +106,9 @@ void BinaryFile::OpenForAppending(const char *filename)
 {
 	Close();
 
-	m_f.open(filename, ios::out | ios::app | ios::binary);
+  m_f.open(filename, std::ios::out | std::ios::app | std::ios::binary);
 	if(!m_f.is_open()){
-		throw DException(string("Cannot open ") + filename + " for writing at the end");
+    throw DException(std::string("Cannot open ") + filename + " for writing at the end");
 	}else{
 		m_mode = DUtils::FILE_MODES(WRITE | APPEND);
 	}
diff --git a/src/DUtils/Timestamp.cpp b/src/DUtils/Timestamp.cpp
index 4551839..8281dfc 100644
--- a/src/DUtils/Timestamp.cpp
+++ b/src/DUtils/Timestamp.cpp
@@ -96,7 +96,7 @@ double Timestamp::getFloatTime() const {
 
 string Timestamp::getStringTime() const {
 	char buf[32];
-	sprintf(buf, "%.6lf", this->getFloatTime());
+	sprintf(buf, "%.6f", this->getFloatTime());
 	return string(buf);
 }
 
diff --git a/src/DUtilsCV/Drawing.cpp b/src/DUtilsCV/Drawing.cpp
index 45233d9..9b56416 100644
--- a/src/DUtilsCV/Drawing.cpp
+++ b/src/DUtilsCV/Drawing.cpp
@@ -9,8 +9,9 @@
  */
 
 #include <vector>
-#include <opencv/cv.h>
-#include <opencv/highgui.h>
+#include <opencv2/core.hpp>
+#include <opencv2/highgui.hpp>
+#include <opencv2/calib3d.hpp>
 #include "Drawing.h"
 
 using namespace std;
@@ -125,7 +126,7 @@ void Drawing::drawCorrespondences(cv::Mat &image, const cv::Mat &img1,
 	
   cvSetImageROI(ipl_ret, roi);
   IplImage ipl_aux1 = IplImage(aux1);
-  cvCopyImage(&ipl_aux1, ipl_ret);
+  cvCopy(&ipl_aux1, ipl_ret);
   
   roi.x = 0;
   roi.y = img1.rows;
@@ -134,7 +135,7 @@ void Drawing::drawCorrespondences(cv::Mat &image, const cv::Mat &img1,
 	
   cvSetImageROI(ipl_ret, roi);
   IplImage ipl_aux2 = IplImage(aux2);
-  cvCopyImage(&ipl_aux2, ipl_ret);
+  cvCopy(&ipl_aux2, ipl_ret);
 
 	cvResetImageROI(ipl_ret);
 
diff --git a/src/DUtilsCV/GUI.cpp b/src/DUtilsCV/GUI.cpp
index 615a2d4..429237e 100644
--- a/src/DUtilsCV/GUI.cpp
+++ b/src/DUtilsCV/GUI.cpp
@@ -10,8 +10,9 @@
 
 #include <vector>
 #include <queue>
-#include <opencv/cv.h>
-#include <opencv/highgui.h>
+#include <opencv2/core.hpp>
+#include <opencv2/highgui.hpp>
+#include <opencv2/imgproc.hpp>
 #include <cstdio>
 #include <string>
 #include <sstream>
diff --git a/src/DUtilsCV/Geometry.cpp b/src/DUtilsCV/Geometry.cpp
index e29d8c2..32ab557 100644
--- a/src/DUtilsCV/Geometry.cpp
+++ b/src/DUtilsCV/Geometry.cpp
@@ -8,7 +8,7 @@
  *
  */
 
-#include <opencv/cv.h>
+#include <opencv2/core.hpp>
 #include "Geometry.h"
 #include "Types.h"
 
diff --git a/src/DUtilsCV/IO.cpp b/src/DUtilsCV/IO.cpp
index ac9d500..fc0eb24 100644
--- a/src/DUtilsCV/IO.cpp
+++ b/src/DUtilsCV/IO.cpp
@@ -10,8 +10,8 @@
 
 #include <iostream>
 #include <vector>
-#include <opencv/cv.h>
-#include <opencv/highgui.h>
+#include <opencv2/core.hpp>
+#include <opencv2/highgui.hpp>
 #include <string>
 #include "IO.h"
 #include "Types.h"
diff --git a/src/DUtilsCV/Mat.cpp b/src/DUtilsCV/Mat.cpp
index 7ab0a14..9690f8d 100644
--- a/src/DUtilsCV/Mat.cpp
+++ b/src/DUtilsCV/Mat.cpp
@@ -9,7 +9,7 @@
  */
 
 #include "Mat.h"
-#include <opencv/cv.h>
+#include <opencv2/core.hpp>
 #include <vector>
 
 using namespace std;
diff --git a/src/DUtilsCV/Transformations.cpp b/src/DUtilsCV/Transformations.cpp
index 858222a..cbdaebe 100644
--- a/src/DUtilsCV/Transformations.cpp
+++ b/src/DUtilsCV/Transformations.cpp
@@ -10,7 +10,8 @@
 
 #include "Transformations.h"
 #include "Types.h"
-#include <opencv/cv.h>
+#include <opencv2/core.hpp>
+#include <opencv2/calib3d.hpp>
 
 using namespace DUtilsCV;
 
diff --git a/src/DUtilsCV/Types.cpp b/src/DUtilsCV/Types.cpp
index 235e228..87095ed 100644
--- a/src/DUtilsCV/Types.cpp
+++ b/src/DUtilsCV/Types.cpp
@@ -8,7 +8,7 @@
  *
  */
 
-#include <opencv/cv.h>
+#include <opencv2/core.hpp>
 #include <string>
 #include "Types.h"
 
diff --git a/src/DVision/BRIEF.cpp b/src/DVision/BRIEF.cpp
index 2795d49..2782e52 100644
--- a/src/DVision/BRIEF.cpp
+++ b/src/DVision/BRIEF.cpp
@@ -13,6 +13,7 @@
 #include "BRIEF.h"
 #include "DUtils.h"
 #include <boost/dynamic_bitset.hpp>
+#include <opencv2/imgproc.hpp>
 #include <vector>
 
 using namespace std;
diff --git a/src/DVision/BundleCamera.cpp b/src/DVision/BundleCamera.cpp
index 29924b3..ef1d56d 100644
--- a/src/DVision/BundleCamera.cpp
+++ b/src/DVision/BundleCamera.cpp
@@ -13,7 +13,7 @@
 #include <fstream>
 #include <sstream>
 #include <iomanip>
-#include <opencv/cv.h>
+#include <opencv2/core.hpp>
 #include "BundleCamera.h"
 
 using namespace DVision::Bundle;
diff --git a/src/DVision/FSolver.cpp b/src/DVision/FSolver.cpp
index 2c503e6..3b62555 100644
--- a/src/DVision/FSolver.cpp
+++ b/src/DVision/FSolver.cpp
@@ -10,7 +10,7 @@
  
 #include <vector>
 #include <cmath>
-#include <opencv/cv.h>
+#include <opencv2/core.hpp>
 #include "FSolver.h"
 
 #include "DUtils.h"
diff --git a/src/DVision/HSolver.cpp b/src/DVision/HSolver.cpp
index 44d0e5c..1d61772 100644
--- a/src/DVision/HSolver.cpp
+++ b/src/DVision/HSolver.cpp
@@ -10,7 +10,7 @@
  
 #include <vector>
 #include <cmath>
-#include <opencv/cv.h>
+#include <opencv2/core.hpp>
 #include "HSolver.h"
 
 #include "DUtils.h"
diff --git a/src/DVision/ImageFunctions.cpp b/src/DVision/ImageFunctions.cpp
index 51f28d1..5120651 100644
--- a/src/DVision/ImageFunctions.cpp
+++ b/src/DVision/ImageFunctions.cpp
@@ -8,7 +8,8 @@
  *
  */
 
-#include <opencv/cv.h>
+#include <opencv2/core.hpp>
+#include <opencv2/imgproc.hpp>
 #include "ImageFunctions.h"
 #include "DUtils.h"
 
diff --git a/src/DVision/Matches.cpp b/src/DVision/Matches.cpp
index c39d567..4b7538b 100644
--- a/src/DVision/Matches.cpp
+++ b/src/DVision/Matches.cpp
@@ -11,8 +11,8 @@
 #include <iostream>
 #include <vector>
 #include <string>
-#include <opencv/cv.h>
-#include <opencv/highgui.h>
+#include <opencv2/core.hpp>
+#include <opencv2/highgui.hpp>
 #include "Matches.h"
 
 #include "DUtilsCV.h" // defines macros CVXX
diff --git a/src/DVision/PMVSCamera.cpp b/src/DVision/PMVSCamera.cpp
index fb586c8..10b652b 100644
--- a/src/DVision/PMVSCamera.cpp
+++ b/src/DVision/PMVSCamera.cpp
@@ -9,7 +9,7 @@
  */
  
 #include <vector>
-#include <opencv/cv.h>
+#include <opencv2/core.hpp>
 #include <string>
 #include <sstream>
 #include <fstream>
diff --git a/src/DVision/SurfSet.cpp b/src/DVision/SurfSet.cpp
index fe81049..dbbd79f 100644
--- a/src/DVision/SurfSet.cpp
+++ b/src/DVision/SurfSet.cpp
@@ -21,14 +21,10 @@
 #include <vector>
 
 #include "DUtils.h"
-#include "DUtilsCV.h" // defines macros CVXX
-
-#include <opencv/cv.h>
-#include <opencv/highgui.h>
-#if CV24
-#include <opencv2/nonfree/features2d.hpp>
-#endif
 
+#include <opencv2/core.hpp>
+#include <opencv2/highgui.hpp>
+#include <opencv2/xfeatures2d/nonfree.hpp>
 
 
 using namespace std;
@@ -108,93 +104,44 @@ void SurfSet::LoadCustom(const std::string &filename)
 
 void SurfSet::Extract(const cv::Mat &image, double hessianTh, bool extended)
 {
-  CvSURFParams params = cvSURFParams(hessianTh, (extended ? 1: 0) );
+  SURFParams params(hessianTh, extended);
   extract(image, params);
 }
 
 // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 
 
-#if USURF_SUPPORTED
 void SurfSet::_ExtractUpright(const cv::Mat &image, double hessianTh, bool extended)
 {
-  CvSURFParams params = cvSURFParams(hessianTh, (extended ? 1: 0) );
-  params.upright = 1;
+  SURFParams params(hessianTh, extended, true);
   extract(image, params);
 }
-#endif
 
 // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 
 
-void SurfSet::extract(const cv::Mat &image, const CvSURFParams &params)
+void SurfSet::extract(const cv::Mat &image, const SURFParams &params)
 {
-  #if CV24
-    // OpenCV 2.4 implementation
-  
-    cv::SURF surf(params.hessianThreshold, params.nOctaves, params.nOctaveLayers,
-      (params.extended == 1), false /* upright */);
-    
-    cv::Mat descs;
-    surf(image, cv::Mat() /* mask */, this->keys, descs);
-    
-    const int L = (params.extended == 1 ? 128 : 64);
-    this->descriptors.resize(this->keys.size() * L);
-    this->laplacians.resize(this->keys.size());
-    
-    vector<cv::KeyPoint>::const_iterator kit;
-    vector<int>::iterator lit = this->laplacians.begin();
-    for(kit = this->keys.begin(); kit != this->keys.end(); ++kit, ++lit)
-    {
-      *lit = kit->class_id; // laplacian sign should be stored here
-    }
-    
-    //assert(descs.type() == CV_32F && descs.isContinuous());
-    
-    std::copy(descs.ptr<float>(), descs.ptr<float>() + (descs.rows * descs.cols),
-      this->descriptors.begin());
-  
-  #else
-  
-    // old implementation opencv 2.0
-    CvSeq *kp1=NULL;
-    CvSeq *desc1=NULL;
-    CvMemStorage *storage = cvCreateMemStorage(0);
-   
-    IplImage ipl_image = IplImage(image);
-    cvExtractSURF(&ipl_image, NULL, &kp1, &desc1, storage, params);
+  cv::Ptr<cv::xfeatures2d::SURF> surf = cv::xfeatures2d::SURF::create(
+        params.hessianThreshold, params.nOctaves, params.nOctaveLayers,
+        params.extended, params.upright);
 
-    CvSeqReader reader, kreader;
-    cvStartReadSeq( desc1, &reader, 0 );
-    cvStartReadSeq( kp1, &kreader, 0 );
+  cv::Mat descs;
+  surf->detectAndCompute(image, cv::Mat() /* mask */, this->keys, descs);
 
-    const int L = (params.extended ? 128 : 64);
+  const int L = (params.extended == 1 ? 128 : 64);
+  this->descriptors.resize(this->keys.size() * L);
+  this->laplacians.resize(this->keys.size());
 
-    descriptors.resize(desc1->total * L);
-    keys.resize(kp1->total);
-    laplacians.resize(kp1->total);
+  vector<cv::KeyPoint>::const_iterator kit;
+  vector<int>::iterator lit = this->laplacians.begin();
+  for(kit = this->keys.begin(); kit != this->keys.end(); ++kit, ++lit)
+  {
+    *lit = kit->class_id; // laplacian sign should be stored here
+  }
 
-    for( int i = 0; i < desc1->total; i++ )
-    {
-      const CvSURFPoint *p= (const CvSURFPoint*)kreader.ptr;
-      const float* vec = (const float*)reader.ptr;
-      CV_NEXT_SEQ_ELEM( reader.seq->elem_size, reader );
-      CV_NEXT_SEQ_ELEM( kreader.seq->elem_size, kreader );
-
-      keys[i].pt.x = p->pt.x;
-      keys[i].pt.y = p->pt.y;
-      keys[i].angle = p->dir;
-      keys[i].size = (float)p->size;
-      keys[i].response = p->hessian;
-      keys[i].octave = getPointOctave(*p, params);
-      laplacians[i] = p->laplacian;
-
-      for(int j = 0; j < L; ++j){
-          descriptors[i*L + j] = vec[j];
-      }
-    }
-    
-    cvReleaseMemStorage(&storage);
-  
-  #endif
+  //assert(descs.type() == CV_32F && descs.isContinuous());
+
+  std::copy(descs.ptr<float>(), descs.ptr<float>() + (descs.rows * descs.cols),
+    this->descriptors.begin());
 }
 
 // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 
@@ -202,115 +149,56 @@ void SurfSet::extract(const cv::Mat &image, const CvSURFParams &params)
 void SurfSet::Compute(const cv::Mat &image,
     const std::vector<cv::KeyPoint> &keypoints, bool extended)
 {
-  CvSURFParams params = cvSURFParams(0, (extended ? 1: 0) );
+  SURFParams params(0, extended);
   compute(image, keypoints, params);
 }
 
 // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 
 
-#if USURF_SUPPORTED
-
 void SurfSet::_ComputeUpright(const cv::Mat &image,
     const std::vector<cv::KeyPoint> &keypoints, bool extended)
 {
-  CvSURFParams params = cvSURFParams(0, (extended ? 1: 0) );
-  params.upright = 1;
+  SURFParams params(0, extended, true);
   compute(image, keypoints, params);
 }
 
-#endif
-
 // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 
 
 void SurfSet::compute(const cv::Mat &image,
-  const std::vector<cv::KeyPoint> &keypoints, const CvSURFParams &params)
+  const std::vector<cv::KeyPoint> &keypoints, const SURFParams &params)
 {
-  #if CV24
-    // OpenCV 2.4 implementation
-    if(keypoints.empty())
-    {
-      this->keys.clear();
-      this->descriptors.clear();
-      this->laplacians.clear();
-    }
-    else
-    {
-      this->keys = keypoints;
+  if(keypoints.empty())
+  {
+    this->keys.clear();
+    this->descriptors.clear();
+    this->laplacians.clear();
+  }
+  else
+  {
+    this->keys = keypoints;
 
-      cv::SURF surf(params.hessianThreshold, params.nOctaves, 
-        params.nOctaveLayers, (params.extended == 1), false /* upright */);
-      
-      cv::Mat descs;
-      surf(image, cv::Mat() /* mask */, this->keys, descs, true);
-    
-      this->descriptors.resize(this->keys.size() * descs.cols);
-      this->laplacians.resize(this->keys.size());
-      
-      vector<cv::KeyPoint>::const_iterator kit;
-      vector<int>::iterator lit = this->laplacians.begin();
-      for(kit = this->keys.begin(); kit != this->keys.end(); ++kit, ++lit)
-      {
-        *lit = kit->class_id; // laplacian sign should be stored here
-      }
-      
-      assert(descs.type() == CV_32F && descs.isContinuous());
-      
-      std::copy(descs.ptr<float>(), descs.ptr<float>() + (descs.rows * descs.cols),
-        this->descriptors.begin());
-    }
-  
-  #else
-  
-    const int L = (params.extended ? 128 : 64);
-    
-    keys = keypoints;
-    laplacians.resize(keys.size());
-    descriptors.resize(keys.size() * L);
-    
-    std::fill(laplacians.begin(), laplacians.end(), 1);
+    cv::Ptr<cv::xfeatures2d::SURF> surf = cv::xfeatures2d::SURF::create(
+          params.hessianThreshold, params.nOctaves, params.nOctaveLayers,
+          params.extended, params.upright);
+
+    cv::Mat descs;
+    surf->compute(image, this->keys, descs);
 
-    CvSeqWriter writer;
-    CvMemStorage *storage = cvCreateMemStorage(0);
-    cvStartWriteSeq(0, sizeof(CvSeq), sizeof(CvSURFPoint), storage, &writer);
-    CvSURFPoint p;
+    this->descriptors.resize(this->keys.size() * descs.cols);
+    this->laplacians.resize(this->keys.size());
 
-    std::vector<cv::KeyPoint>::const_iterator kit;
-    for(kit = keypoints.begin(); kit != keypoints.end(); ++kit)
+    vector<cv::KeyPoint>::const_iterator kit;
+    vector<int>::iterator lit = this->laplacians.begin();
+    for(kit = this->keys.begin(); kit != this->keys.end(); ++kit, ++lit)
     {
-      p.pt.x = kit->pt.x;
-      p.pt.y = kit->pt.y;
-      p.dir = kit->angle;
-      p.size = kit->size;
-      p.hessian = kit->response;
-      p.laplacian = 1;
-      
-      CV_WRITE_SEQ_ELEM(p, writer);
+      *lit = kit->class_id; // laplacian sign should be stored here
     }
-    
-    CvSeq *kp1 = cvEndWriteSeq(&writer);
-    CvSeq *desc1 = NULL;
-
-    IplImage ipl_image = IplImage(image);
-    cvExtractSURF(&ipl_image, NULL, &kp1, &desc1, storage,
-      params, 1); // use provided keypoints);
-
-    CvSeqReader reader;
-    cvStartReadSeq( desc1, &reader, 0 );
 
-    assert(desc1->total == (int)keys.size()); // ### check
-
-    for( int i = 0; i < desc1->total; i++ )
-    {
-      const float* vec = (const float*)reader.ptr;
-      CV_NEXT_SEQ_ELEM( reader.seq->elem_size, reader );
+    assert(descs.type() == CV_32F && descs.isContinuous());
 
-      for(int j = 0; j < L; ++j){
-          descriptors[i*L + j] = vec[j];
-      }
-    }
-    
-    cvReleaseMemStorage(&storage);
-  #endif
+    std::copy(descs.ptr<float>(), descs.ptr<float>() + (descs.rows * descs.cols),
+      this->descriptors.begin());
+  }
 }
 
 // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 
@@ -630,23 +518,9 @@ void SurfSet::save(cv::FileStorage &fs, int idx) const
   fs << "descriptor_length" << GetDescriptorLength();
   cv::write(fs, "keypoints", keys);
 
-  #if CV24  
-    cv::write(fs, "descriptors", descriptors);
-    cv::write(fs, "laplacians", laplacians);
-  #else
-  
-    if(!descriptors.empty())
-      fs << "descriptors" << "[" << descriptors << "]";
-    else
-      fs << "descriptors" << "[" << "]";
-    
-    if(!laplacians.empty())
-      fs << "laplacians" << "[" << laplacians << "]";
-    else
-      fs << "laplacians" << "[" << "]";
-      
-  #endif
-  
+  cv::write(fs, "descriptors", descriptors);
+  cv::write(fs, "laplacians", laplacians);
+
   fs << "}";
 }
 
@@ -678,18 +552,13 @@ void SurfSet::load(cv::FileStorage &fs, int idx)
   descriptors.resize(keys.size() * L);
   laplacians.resize(keys.size());
 
-  #if CV24
-    cv::read(fn["descriptors"], descriptors);
-    cv::read(fn["laplacians"], laplacians);
-  #else
-    fn["descriptors"] >> descriptors;
-    fn["laplacians"] >> laplacians;
-  #endif
+  cv::read(fn["descriptors"], descriptors);
+  cv::read(fn["laplacians"], laplacians);
 }
 
 // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 
 
-int SurfSet::getPointOctave(const CvSURFPoint& kpt, const CvSURFParams& params)
+int SurfSet::getPointOctave(const cv::KeyPoint& kpt, const SURFParams& params)
   const 
 {
   // these are as defined in opencv surf.cpp