--- a/c/Parameters.cpp	Mon Apr 28 18:18:14 2014 -0400
+++ b/c/Parameters.cpp	Thu May 01 17:41:10 2014 -0400
@@ -33,33 +33,35 @@
     ("distortion-coefficients", po::value<std::vector<float> >(&distortionCoefficients)->multitoken(), "")
     ("undistorted-size-multiplication", po::value<float>(&undistortedImageMultiplication), "undistorted image multiplication")
     ("mask-filename", po::value<string>(&maskFilename), "filename of the mask image (where features are detected)")
+    ("undistort", po::value<bool>(&undistort), "undistort the video for feature tracking")
     ("load-features", po::value<bool>(&loadFeatures), "load features from database")
     ("display", po::value<bool>(&display), "display trajectories on the video")
     ("video-fps", po::value<float>(&videoFPS), "original video frame rate")
     ("frame1", po::value<unsigned int>(&frame1), "first frame to process")
     ("nframes", po::value<int>(&nFrames), "number of frame to process")
     // feature tracking
-    ("max-nfeatures", po::value<int>(&maxNFeatures), "maximum number of features added at each frame")
-    ("feature-quality", po::value<float>(&featureQuality), "quality level of the good features to track")
-    ("min-feature-distanceklt", po::value<float>(&minFeatureDistanceKLT), "minimum distance between features")
-    ("window-size", po::value<int>(&windowSize), "size of the search window at each pyramid level")
+    ("max-nfeatures", po::value<int>(&maxNFeatures), "maximum number of features added at each frame (1000s)")
+    ("feature-quality", po::value<float>(&featureQuality), "quality level of the good features to track (]0. 1?])")
+    ("min-feature-distanceklt", po::value<float>(&minFeatureDistanceKLT), "minimum distance between features (]0. 10?])")
+    ("block-size", po::value<int>(&blockSize), "size of the block for feature characteristics ([1 ?])")
     ("use-harris-detector", po::value<bool>(&useHarrisDetector), "use of Harris corner detector")
     ("k", po::value<float>(&k), "k parameter to detect good features to track (OpenCV)")
-    ("pyramid-level", po::value<int>(&pyramidLevel), "maximal pyramid level in the feature tracking algorithm")
-    ("ndisplacements", po::value<unsigned int>(&nDisplacements), "number of displacement to test minimum feature motion")
-    ("min-feature-displacement", po::value<float>(&minFeatureDisplacement), "minimum displacement to keep features")
-    ("acceleration-bound", po::value<float>(&accelerationBound), "maximum feature acceleration")
-    ("deviation-bound", po::value<float>(&deviationBound), "maximum feature deviation")
-    ("smoothing-halfwidth", po::value<int>(&nFramesSmoothing), "number of frames to smooth positions (half window)")
-    ("max-number-iterations", po::value<int>(&maxNumberTrackingIterations), "maximum number of iterations to stop feature tracking")
-    ("min-tracking-error", po::value<float>(&minTrackingError), "minimum error to reach to stop feature tracking")
-    ("min-feature-eig-threshold", po::value<float>(&minFeatureEigThreshold)->default_value(1e-4), "minimum eigen value of a 2x2 normal matrix of optical flow equations")
-    ("min-feature-time", po::value<unsigned int>(&minFeatureTime), "minimum length of a feature (number of frames) to consider a feature for grouping")
-    ("mm-connection-distance", po::value<float>(&mmConnectionDistance), "connection distance in feature grouping")
-    ("mm-segmentation-distance", po::value<float>(&mmSegmentationDistance), "segmentation distance in feature grouping")
-    ("max-distance", po::value<float>(&maxDistance), "maximum distance between features for grouping")
-    ("min-velocity-cosine", po::value<float>(&minVelocityCosine), "minimum cosine of the angle between the velocity vectors for grouping")
-    ("min-nfeatures-group", po::value<float>(&minNFeaturesPerGroup), "minimum average number of features per frame to create a vehicle hypothesis")
+    ("window-size", po::value<int>(&windowSize), "size of the search window at each pyramid level ([1 ?])")
+    ("pyramid-level", po::value<int>(&pyramidLevel), "maximal pyramid level in the feature tracking algorithm ([0 maxLevel=5?])")
+    ("ndisplacements", po::value<unsigned int>(&nDisplacements), "number of displacements to test minimum feature motion ([2 4])")
+    ("min-feature-displacement", po::value<float>(&minFeatureDisplacement), "minimum displacement per frame (in world space) to keep features (]0. 0.1?])")
+    ("acceleration-bound", po::value<float>(&accelerationBound), "maximum feature acceleration (]1 3+])")
+    ("deviation-bound", po::value<float>(&deviationBound), "maximum feature deviation (on cosine) (]0 1])")
+    ("smoothing-halfwidth", po::value<int>(&nFramesSmoothing), "number of frames to smooth positions (half window) ([0 inf[")
+    ("max-number-iterations", po::value<int>(&maxNumberTrackingIterations), "maximum number of iterations to stop optical flow (20-30?)")
+    ("min-tracking-error", po::value<float>(&minTrackingError), "minimum error to reach to stop optical flow (0.3-0.01)")
+    ("min-feature-eig-threshold", po::value<float>(&minFeatureEigThreshold)->default_value(1e-4), "minimum eigen value of a 2x2 normal matrix of optical flow equations (10^-4)")
+    ("min-feature-time", po::value<unsigned int>(&minFeatureTime), "minimum length of a feature (number of frames) to consider a feature for grouping [5 20+]")
+    ("mm-connection-distance", po::value<float>(&mmConnectionDistance), "connection distance in feature grouping (in world space) (ped: [0.5m 2m+], cars: [1.7m 4m+])")
+    ("mm-segmentation-distance", po::value<float>(&mmSegmentationDistance), "segmentation distance in feature grouping (in world space) (< mm-connection-distance, empirically ~ mm-connection-distance / 2.5)")
+    ("max-distance", po::value<float>(&maxDistance), "maximum distance between features for grouping (in world space) (unused)")
+    ("min-velocity-cosine", po::value<float>(&minVelocityCosine), "minimum cosine of the angle between the velocity vectors for grouping (unused)")
+    ("min-nfeatures-group", po::value<float>(&minNFeaturesPerGroup), "minimum average number of features per frame to create a vehicle hypothesis (]1 3+])")
     // ("max-uturn-cosine", po::value<float>(&maxUTurnCosine), "maximum cosine value to detect U-turn")
     // ("nframes-avoid-uturn", po::value<int>(&nFramesAvoidUTurn), "number of frames over which a feature should not make a U-turn")
     // Safety Analysis