Can the Bag of Words functions be used with binary descriptors?

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How do you "compute the uchar Cluster-Centers yourself"?

• Convert your data from uchar to float, then use normal k-means and (if needed) convert back to uchar
• Better: Use k-medoids algorithm (not part of OpenCV) instead of k-means

I thought simply changing from uchar to float was a work around that didn't really work as it though it doesn't cause any errors, but doesn't run entirely properly either?

Yes, thus, you should better use k-medoids or another clustering method which can deal with binary data since norm-wise it would be a totally different world (Euclidean vs Hamming Norm). However, according to Muja (author of FLANN), you might use HierarchicalClusteringIndexParams for clustering binary data, see also this post: http://answers.opencv.org/question/24... .