--- a/include/Parameters.hpp	Thu Apr 18 15:29:33 2013 -0400
+++ b/include/Parameters.hpp	Fri Dec 05 12:13:53 2014 -0500
@@ -4,6 +4,7 @@
 /// \todo Class for parameters, with utilities to save and load from configuration files
 
 #include <string>
+#include <vector>
 
 namespace boost{
   namespace program_options {
@@ -19,7 +20,12 @@
   std::string videoFilename;
   std::string databaseFilename;
   std::string homographyFilename;
+  std::string intrinsicCameraFilename;
+  std::vector<float> distortionCoefficients;
+  float undistortedImageMultiplication;
+  int interpolationMethod;
   std::string maskFilename;
+  bool undistort;
   bool loadFeatures;
   bool display;
   float videoFPS;
@@ -27,27 +33,62 @@
   unsigned int frame1;
   int nFrames;
   // feature tracking
+  /// "Maximum number of corners to return" (OpenCV goodFeaturesToTrack) (should be large enough not to limit the potential number of features)
   int maxNFeatures;
+  /// "Parameter characterizing the minimal accepted quality of image corners" (OpenCV goodFeaturesToTrack )
   float featureQuality;
+  /// "Minimum possible Euclidean distance between the returned corners" (OpenCV goodFeaturesToTrack)
   float minFeatureDistanceKLT;
-  int windowSize;
+  /// "Size of an average block for computing a derivative covariation matrix over each pixel neighborhood" (OpenCV goodFeaturesToTrack)
+  int blockSize;
+  /// "Parameter indicating whether to use a Harris detector" (OpenCV goodFeaturesToTrack)
   bool useHarrisDetector;
+  /// "Free parameter of the Harris detector" (OpenCV goodFeaturesToTrack)
   float k;
+  /// "size of the search window at each pyramid level" (OpenCV calcOpticalFlowPyrLK)
+  int windowSize;
+  /// "0-based maximal pyramid level number" (OpenCV calcOpticalFlowPyrLK) higher is higher quality
   int pyramidLevel;
+  /// Number of displacements (number of frames-1) over which minimum motion is computed 
   unsigned int nDisplacements;
+  /// Minimum displacement per frame (in world space) to keep features
   float minFeatureDisplacement;
+  /// Maximum feature acceleration
   float accelerationBound;
+  /// Maximum feature deviation
   float deviationBound;
+  /// Number of frames to smooth positions (half window)
   int nFramesSmoothing;
   //int nFramesVelocity;
+  /// Maximum number of iterations to stop optical flow (OpenCV calcOpticalFlowPyrLK)
   int maxNumberTrackingIterations;
+  /// Minimum error to reach to stop optical flow (OpenCV calcOpticalFlowPyrLK)
   float minTrackingError;
+  /// Minimum eigen value of a 2x2 normal matrix of optical flow equations (OpenCV calcOpticalFlowPyrLK)
+  float minFeatureEigThreshold;
+  /// Minimum length of a feature (number of frames) to consider a feature for grouping
   unsigned int minFeatureTime;
+  /// Connection distance in feature grouping (in world space)
   float mmConnectionDistance;
+  /// Segmentation distance in feature grouping (in world space)
   float mmSegmentationDistance;
+  /// Maximum distance between features for grouping (in world space) (unused)
   float maxDistance;
+  /// Minimum cosine of the angle between the velocity vectors for grouping (unused)
   float minVelocityCosine;
+  /// Minimum average number of features per frame to create a vehicle hypothesis
   float minNFeaturesPerGroup;
+  // safety analysis
+  float maxPredictedSpeed;
+  float predictionTimeHorizon;
+  float collisionDistance;
+  bool crossingZones;
+  std::string predictionMethod;
+  int nPredictedTrajectories;
+  float minAcceleration;
+  float maxAcceleration;
+  float maxSteering;
+  bool useFeaturesForPrediction;
 
   std::string parameterDescription;