--- a/tracking.cfg	Thu Apr 18 15:29:33 2013 -0400
+++ b/tracking.cfg	Fri Dec 05 12:13:53 2014 -0500
@@ -1,16 +1,30 @@
 # filename of the video to process
-video-filename = ~/Research/Data/minnesota/Rice-and-University-12_50.avi
+video-filename = laurier.avi
 # filename of the database where results are saved
-database-filename = ~/Research/Data/minnesota/results.sqlite
+database-filename = laurier.sqlite
+# filename of the homography matrix
+homography-filename = laurier-homography.txt
 # filename of the homography matrix
-homography-filename = ~/Research/Data/minnesota/Rice-and-University-12_50-homography.txt
+intrinsic-camera-filename = intrinsic-camera.txt
+# -0.11759321 0.0148536 0.00030756 -0.00020578 -0.00091816
+distortion-coefficients = -0.11759321
+distortion-coefficients = 0.0148536
+distortion-coefficients = 0.00030756 
+distortion-coefficients = -0.00020578 
+distortion-coefficients = -0.00091816
+# undistorted image multiplication
+undistorted-size-multiplication = 1.31
+# Interpolation method for remapping image when correcting for distortion: 0 for INTER_NEAREST - a nearest-neighbor interpolation; 1 for INTER_LINEAR - a bilinear interpolation (used by default); 2 for INTER_CUBIC - a bicubic interpolation over 4x4 pixel neighborhood; 3 for INTER_LANCZOS4
+interpolation-method = 1
 # filename of the mask image (where features are detected)
-mask-filename = ~/Research/Data/minnesota/Rice-and-University-12_50-mask.png
+mask-filename = none
+# undistort the video for feature tracking
+undistort = false
 # load features from database
 load-features = false
 # display trajectories on the video
 display = false
-# original video frame rate
+# original video frame rate (number of frames/s)
 video-fps = 29.97
 # number of digits of precision for all measurements derived from video
 # measurement-precision = 3
@@ -25,12 +39,14 @@
 feature-quality = 0.1
 # minimum distance between features
 min-feature-distanceklt = 5
-# size of the search window at each pyramid level
-window-size = 7
+# size of the block for feature characteristics
+block-size = 7
 # use of Harris corner detector
 use-harris-detector = false
 # k parameter to detect good features to track (OpenCV)
 k = 0.4
+# size of the search window at each pyramid level
+window-size = 7
 # maximal pyramid level in the feature tracking algorithm
 pyramid-level = 5
 # number of displacement to test minimum feature motion
@@ -46,9 +62,11 @@
 # number of frames to compute velocities
 #nframes-velocity = 5
 # maximum number of iterations to stop feature tracking
-max-number-iterations = 20
+max-number-iterations = 30
 # minimum error to reach to stop feature tracking
-min-tracking-error = 0.3
+min-tracking-error = 0.01
+# minimum eigen value of a 2x2 normal matrix of optical flow equations
+min-feature-eig-threshold = 1e-4
 # minimum length of a feature (number of frames) to consider a feature for grouping
 min-feature-time = 20
 # Min Max similarity parameters (Beymer et al. method)
@@ -62,3 +80,46 @@
 min-velocity-cosine = 0.8
 # minimum average number of features per frame to create a vehicle hypothesis
 min-nfeatures-group = 3
+# Road user classification
+# filename of the general ped/cyc/veh SVM classifier
+pbv-svm-filename = modelPBV.xml
+# filename of the cyc/veh SVM classifier
+pbv-svm-filename = modelBV.xml
+# maximum pedestrian speed (agregate: mean, median, 85th centile, etc.) 3.6 m/s
+max-ped-speed = 0.12
+# maximum cyclist speed (agregate: mean, median, 85th centile, etc.) 10.8 m/s (3xped)
+max-cyc-speed = 0.36
+# mean pedestrian speed and standard deviation (in a normal distribution) 1.36+-0.24 m/s
+mean-ped-speed = 0.45
+std-ped-speed = 0.008
+# mean cyclist speed and standard deviation (in a log-normal distribution) 1.36+-0.24 m/s
+mean-cyc-speed = 0.45
+std-cyc-speed = 0.008
+# mean vehicle speed and standard deviation (in a normal distribution) 5.12+-2.11 m/s
+mean-veh-speed = 0.17
+std-veh-speed = 0.07
+# Safety analysis
+# maximum speed when predicting future motion (km/h)
+max-predicted-speed = 50
+# time horizon for collision prediction (s)
+prediction-time-horizon = 5
+# collision distance threshold (m)
+collision-distance = 1.8
+# option to compute crossing zones and predicted PET
+crossing-zones = false
+# prediction method: cv, na, ps
+prediction-method = na
+# number of predicted trajectories (use depends on prediction method)
+npredicted-trajectories = 10
+# maximum acceleration for normal adaptation input symmetric distribution (m/s2)
+max-normal-acceleration = 2
+# maximum steering for normal adaptation input symmetric distribution (rad/s)
+max-normal-steering = 0.2
+# minimum acceleration for input distribution (m/s2) (extreme values used for evasive action distributions)
+min-extreme-acceleration = -9.1
+# maximum acceleration for input distribution (m/s2) (extreme values used for evasive action distributions)
+max-extreme-acceleration = 4.3
+# maximum steering for input distribution (rad/s) (extreme values used for evasive action distributions)
+max-extreme-steering = 0.5
+# use feature positions and velocities for prediction
+use-features-prediction = true