diff --git a/calibrate_sweeps/CMakeLists.txt b/calibrate_sweeps/CMakeLists.txt
index cab9d7a3..73b160cd 100644
--- a/calibrate_sweeps/CMakeLists.txt
+++ b/calibrate_sweeps/CMakeLists.txt
@@ -7,14 +7,23 @@ project(calibrate_sweeps)
 find_package(catkin REQUIRED COMPONENTS roscpp message_generation qt_build semantic_map metaroom_xml_parser strands_sweep_registration actionlib actionlib_msgs)
 
 set(CMAKE_CXX_FLAGS "-O4 -fPIC -std=c++0x -fpermissive ${CMAKE_CXX_FLAGS}")
-set(CMAKE_PREFIX_PATH /usr/share/pcl-1.7/ ${CMAKE_PREFIX_PATH})
-set(PCL_DIR /usr/share/pcl-1.7/)
-find_package(PCL 1.7 REQUIRED NO_DEFAULT_PATH)
+
+
+
+
+
+set(PCL_DIR "/usr/lib/x86_64-linux-gnu/cmake/pcl/")
+
+
+
+find_package(PCL 1.3 REQUIRED)
+
 include_directories(${PCL_INCLUDE_DIRS})
 link_directories(${PCL_LIBRARY_DIRS})
 add_definitions(${PCL_DEFINITIONS})
 
 
+
 rosbuild_prepare_qt4(QtCore QtXml)
 
 add_action_files(
@@ -40,20 +49,3 @@ catkin_package(
 include_directories(
   ${catkin_INCLUDE_DIRS}
 )
-
-add_executable(calibrate_sweep_as src/calibrate_sweep_action_server.cpp )
-add_dependencies(calibrate_sweep_as calibrate_sweeps_generate_messages_cpp)
-
- target_link_libraries(calibrate_sweep_as
-   ${catkin_LIBRARIES}
-   ${PCL_LIBRARIES}
-   ${QT_LIBRARIES}
-  )
-
-############################# INSTALL TARGETS
-
-install(TARGETS calibrate_sweep_as 
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
diff --git a/dynamic_object_retrieval/dynamic_object_retrieval/src/dynamic_convex_segmentation.cpp b/dynamic_object_retrieval/dynamic_object_retrieval/src/dynamic_convex_segmentation.cpp
index ca0d4f25..f5426bd1 100644
--- a/dynamic_object_retrieval/dynamic_object_retrieval/src/dynamic_convex_segmentation.cpp
+++ b/dynamic_object_retrieval/dynamic_object_retrieval/src/dynamic_convex_segmentation.cpp
@@ -48,7 +48,7 @@ pair<int, vector<string> > convex_segment_cloud(int counter, const boost::filesy
     map<size_t, size_t> indices;
     std::tie(g, convex_g, supervoxels, convex_segments, indices) = ss.compute_convex_oversegmentation(cloud, false);
 
-    ss.save_graph(*convex_g, (convex_path / "graph.cereal").string());
+    //ss.save_graph(*convex_g, (convex_path / "graph.cereal").string());
 
     delete g;
     delete convex_g;
@@ -89,7 +89,7 @@ int main(int argc, char** argv)
 
     summary.index_convex_segment_paths.clear();
     int counter = 0;
-    for (const string& xml : folder_xmls) {
+  for (const string& xml : folder_xmls) {
         vector<string> segment_paths;
         tie(counter, segment_paths) = convex_segment_cloud(counter, boost::filesystem::path(xml));
         summary.index_convex_segment_paths.insert(summary.index_convex_segment_paths.end(), segment_paths.begin(), segment_paths.end());
diff --git a/dynamic_object_retrieval/dynamic_object_retrieval/src/dynamic_init_folders.cpp b/dynamic_object_retrieval/dynamic_object_retrieval/src/dynamic_init_folders.cpp
index 34404203..5ef67ede 100644
--- a/dynamic_object_retrieval/dynamic_object_retrieval/src/dynamic_init_folders.cpp
+++ b/dynamic_object_retrieval/dynamic_object_retrieval/src/dynamic_init_folders.cpp
@@ -1,5 +1,15 @@
+#include <metaroom_xml_parser/simple_summary_parser.h>
+#include <metaroom_xml_parser/simple_xml_parser.h>
+#include <metaroom_xml_parser/simple_dynamic_object_parser.h>
+#include <metaroom_xml_parser/load_utilities.h>
+
+
 #include <pcl/point_types.h>
 #include <pcl/point_cloud.h>
+#include <metaroom_xml_parser/simple_summary_parser.h>
+#include <metaroom_xml_parser/simple_xml_parser.h>
+#include <metaroom_xml_parser/simple_dynamic_object_parser.h>
+#include <metaroom_xml_parser/load_utilities.h>
 
 #include <metaroom_xml_parser/load_utilities.h>
 
@@ -7,14 +17,43 @@
 
 using namespace std;
 using namespace dynamic_object_retrieval;
-
 using PointT = pcl::PointXYZRGB;
 
-// TODO: shouldn't this be in a header?
-void init_folders(const boost::filesystem::path& data_path)
+typedef pcl::PointXYZRGB PointType;
+
+typedef pcl::PointXYZRGB PointType;
+typedef semantic_map_load_utilties::DynamicObjectData<PointType> ObjectData;
+
+typedef pcl::PointCloud<PointType> Cloud;
+typedef typename Cloud::Ptr CloudPtr;
+
+using namespace std;
+
+int main(int argc, char** argv)
 {
-    vector<string> folder_xmls = semantic_map_load_utilties::getSweepXmls<PointT>(data_path.string(), true);
+    string folder;
+
 
+    if (argc > 1){
+        folder = argv[1];
+    } else {
+        cout<<"Please specify the folder from where to load the data PFE BILAL OUSSAMA."<<endl;
+        return -1;
+    }
+
+    cout<<"Looking for sweeps..."<<endl;
+    
+    
+    boost::filesystem::path data_path(argv[1]);
+
+    //vector<string> folder_xmls = semantic_map_load_utilties::getSweepXmls<PointT>(data_path.string(),True);
+        vector<string> folder_xmls = semantic_map_load_utilties::getSweepXmls<PointT>(data_path.string(), true);
+
+    cout<<folder_xmls.size()<<" sweeps found."<<endl;
+
+
+
+    
     data_summary summary;
     summary.nbr_sweeps = folder_xmls.size();
 
@@ -36,16 +75,16 @@ void init_folders(const boost::filesystem::path& data_path)
             subsegment_summary.save(subsegment_path);
         }
     }
-}
 
-int main(int argc, char** argv)
-{
-    if (argc < 2) {
-        cout << "Please supply the path containing the sweeps..." << endl;
-        return 0;
-    }
+    for (string sweep : folder_xmls){
 
-    init_folders(boost::filesystem::path(argv[1]));
+        cout<<"Sweep "<<sweep<<endl;
 
-    return 0;
+        vector<ObjectData> objects = semantic_map_load_utilties::loadAllDynamicObjectsFromSingleSweep<PointType>(sweep);
+        cout<<"Found "<<objects.size()<<" objects"<<endl;
+        for (size_t k=0; k<objects.size(); k++){
+            auto object = objects[k];
+            cout<<"Object "<<k<<" has "<<object.vAdditionalViews.size()<<" additional views"<<endl;
+        }
+    }
 }
diff --git a/dynamic_object_retrieval/dynamic_object_retrieval/src/extract_sift.cpp b/dynamic_object_retrieval/dynamic_object_retrieval/src/extract_sift.cpp
index aaf3a2c0..dbfcb89c 100644
--- a/dynamic_object_retrieval/dynamic_object_retrieval/src/extract_sift.cpp
+++ b/dynamic_object_retrieval/dynamic_object_retrieval/src/extract_sift.cpp
@@ -11,6 +11,15 @@
 
 #include <Eigen/Dense>
 #include <Eigen/SVD>
+#include "highgui.h"
+#include <opencv2/opencv.hpp>
+
+#include <opencv2/opencv.hpp>
+#include "opencv2/xfeatures2d.hpp"
+#include "opencv2/features2d.hpp"
+using namespace std;
+using namespace cv;
+using namespace cv::xfeatures2d;
 
 using namespace std;
 
@@ -123,9 +132,10 @@ void extract_nonoverlapping_sift(SiftCloudT::Ptr& sweep_features, CloudT::Ptr& s
                 c[0] = cropped_clouds[i]->at(ind).b;
             }
         }
-        cv::FastFeatureDetector detector;
+        Ptr<FastFeatureDetector> detector=FastFeatureDetector::create(10,true);
+        //cv::FastFeatureDetector detector;
         std::vector<cv::KeyPoint> keypoints;
-        detector.detect(img, keypoints);
+        detector->detect(img, keypoints);
         cv::SIFT::DescriptorParams descriptor_params;
         descriptor_params.isNormalize = true; // always true, shouldn't matter
         descriptor_params.magnification = 3.0; // 3.0 default
@@ -277,8 +287,9 @@ tuple<cv::Mat, cv::Mat, int, int> compute_image_for_cloud(CloudT::Ptr& cloud, co
 pair<SiftCloudT::Ptr, CloudT::Ptr> extract_sift_features(cv::Mat& image, cv::Mat& depth, int minx, int miny, const Eigen::Matrix3f& K)
 {
     std::vector<cv::KeyPoint> cv_keypoints;
-    cv::FastFeatureDetector detector;
-    detector.detect(image, cv_keypoints);
+    //cv::FastFeatureDetector detector;
+    Ptr<FastFeatureDetector>detector=FastFeatureDetector::create(10,true);
+    detector->detect(image, cv_keypoints);
 
     //-- Step 2: Calculate descriptors (feature vectors)
     cv::SIFT::DescriptorParams descriptor_params;
diff --git a/dynamic_object_retrieval/dynamic_object_retrieval/src/extract_surfel_features.cpp b/dynamic_object_retrieval/dynamic_object_retrieval/src/extract_surfel_features.cpp
index 31d947a8..9f6c2799 100644
--- a/dynamic_object_retrieval/dynamic_object_retrieval/src/extract_surfel_features.cpp
+++ b/dynamic_object_retrieval/dynamic_object_retrieval/src/extract_surfel_features.cpp
@@ -144,6 +144,8 @@ void compute_features(HistCloudT::Ptr& features, CloudT::Ptr& keypoints, CloudT:
     for (size_t i = 0; i < pfhrgb_cloud.size(); ++i) {
         std::copy(pfhrgb_cloud.at(i).histogram, pfhrgb_cloud.at(i).histogram+N, features->at(i).histogram);
     }
+
+    std::cout << "Number of features: " << pfhrgb_cloud.size() << std::endl;
 }
 
 NormalCloudT::Ptr compute_surfel_normals(SurfelCloudT::Ptr& surfel_cloud, CloudT::Ptr& segment)
diff --git a/dynamic_object_retrieval/dynamic_object_retrieval/src/register_objects.cpp b/dynamic_object_retrieval/dynamic_object_retrieval/src/register_objects.cpp
index 96aa0529..72ae2a32 100644
--- a/dynamic_object_retrieval/dynamic_object_retrieval/src/register_objects.cpp
+++ b/dynamic_object_retrieval/dynamic_object_retrieval/src/register_objects.cpp
@@ -15,6 +15,16 @@
 #include <pcl/features/normal_3d_omp.h>
 #include <pcl/octree/octree.h>
 
+#include "highgui.h"
+#include <opencv2/opencv.hpp>
+
+#include <opencv2/opencv.hpp>
+#include "opencv2/xfeatures2d.hpp"
+#include "opencv2/features2d.hpp"
+using namespace std;
+using namespace cv;
+using namespace cv::xfeatures2d;
+
 #define VISUALIZE false
 
 using namespace std;
@@ -170,12 +180,12 @@ void register_objects::calculate_features_for_image(cv::Mat& descriptors, std::v
     //detector_params.edgeThreshold = 15.0; // 10.0 default
     //detector_params.threshold = 0.04; // 0.04 default
     //cv::SiftFeatureDetector detector(detector_params);
-    cv::FastFeatureDetector detector;
+     Ptr<FastFeatureDetector> detector = FastFeatureDetector::create(10, true);
 
     //cv::StarFeatureDetector detector;
     //cv::MserFeatureDetector detector;
-    detector.detect(image, keypoints);
-
+    //detector.detect(image, keypoints);
+ detector->detect(image, keypoints);
     //-- Step 2: Calculate descriptors (feature vectors)
     //cv::Mat descriptors;
     // the length of the descriptors is 128