--- a/c/Parameters.cpp	Wed Jun 26 17:28:45 2013 -0400
+++ b/c/Parameters.cpp	Wed Jun 26 18:40:31 2013 -0400
@@ -18,7 +18,7 @@
     ("help,h", "displays this help message")
     ("tf", "tracks features")
     ("gf", "groups features")
-    ("config-file", po::value<string>(&configurationFilename)->default_value("tracking.cfg"), "configuration file")
+    ("config-file", po::value<string>(&configurationFilename), "configuration file")
     ;
 
   po::positional_options_description p;
@@ -56,11 +56,15 @@
     ("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")
-    ;
     // ("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
+    ("max-predicted-speed", po::value<float>(&maxPredictedSpeed)->default_value(50.), "maximum speed when predicting future motion (km/h)")
+    ("prediction-time-horizon", po::value<float>(&predictionTimeHorizon)->default_value(5.), "time horizon for collision prediction (s)")
+    ("collision-distance", po::value<float>(&collisionDistance)->default_value(1.8), "collision distance threshold (m)")
+    ("crossing-zones", po::value<bool>(&crossingZones)->default_value(false), "option to compute crossing zones and predicted PET")
+    ;
+  
   po::options_description cmdLine;
   cmdLine.add(onlyCmdLine).add(cmdLineAndFile);
   try {
@@ -69,10 +73,16 @@
 	  options(cmdLine).positional(p).allow_unregistered().run(), vm);
     notify(vm);
 
+    if (vm.count("config-file") == 0) {
+      cout << "Missing configuration file" << endl;
+      cout << cmdLine << endl;
+      exit(0);      
+    }
+      
     cout << "Using configuration file " << configurationFilename << endl;
 
     ifstream configurationFile(configurationFilename.c_str());
-    store(po::parse_config_file(configurationFile, cmdLineAndFile), vm);
+    store(po::parse_config_file(configurationFile, cmdLineAndFile, true), vm);
     notify(vm);
 
     parameterDescription = getParameterDescription(cmdLineAndFile, vm);

--- a/include/Parameters.hpp	Wed Jun 26 17:28:45 2013 -0400
+++ b/include/Parameters.hpp	Wed Jun 26 18:40:31 2013 -0400
@@ -48,6 +48,11 @@
   float maxDistance;
   float minVelocityCosine;
   float minNFeaturesPerGroup;
+  // safety analysis
+  float maxPredictedSpeed;
+  float predictionTimeHorizon;
+  float collisionDistance;
+  bool crossingZones;
 
   std::string parameterDescription;
 

--- a/python/utils.py	Wed Jun 26 17:28:45 2013 -0400
+++ b/python/utils.py	Wed Jun 26 18:40:31 2013 -0400
@@ -450,6 +450,7 @@
         self.homographyFilename = config.get(self.sectionHeader, 'homography-filename')
         self.homography = loadtxt(self.homographyFilename)
         self.firstFrameNum = config.getint(self.sectionHeader, 'frame1')
+        self.videoFrameRate = config.getfloat(self.sectionHeader, 'video-fps')
 
 #########################
 # sqlite

--- a/scripts/safety-analysis.py	Wed Jun 26 17:28:45 2013 -0400
+++ b/scripts/safety-analysis.py	Wed Jun 26 18:40:31 2013 -0400
@@ -9,9 +9,10 @@
 
 parser = argparse.ArgumentParser(description='The program processes indicators for all pairs of road users in the scene')
 parser.add_argument('configFilename', help = 'name of the configuration file')
-# parser.add_argument('-c', help = 'name of the configuration file') # 
+#parser.add_argument('--maxspeed', dest = 'maxSpeed', help = 'maximum speed when predicting future motion (km/h)', default = 50, type = int)
+#parser.add_argument('--time-horizon', dest = 'maxSpeed', help = 'maximum speed when predicting future motion (km/h)', default = 50, type = int)
 args = parser.parse_args()
-print(args)
+
 # TODO work on the way to indicate an interaction definition
 
 # if False: # test if there is a configuration file?
@@ -19,13 +20,12 @@
 params.loadConfigFile(args.configFilename)
 
 # configuration parameters # TODO from command line
-frameRate = 15  # frame per second
-maxSpeed = 90/3.6/frameRate # speed limit 50 km/h for urban envt, 90km/hr = 25 m/sec for highways
-timeHorizon= frameRate*5 # prediction time Horizon = 1.5 s (reaction time) (5 second)
+maxSpeed = args.maxSpeed/3.6/params.videoFrameRate # speed limit 50 km/h for urban envt, 90km/hr = 25 m/sec for highways
+timeHorizon= params.videoFrameRate*5 # prediction time Horizon = 1.5 s (reaction time) (5 second)
 collisionDistanceThreshold= 1.8 # m
-computeCZ = True
+computeCZ = False
 
-display = False
+# display = False
 
 # parameters for prediction methods
 constantVelocityPredictionParameters = prediction.ConstantPredictionParameters(maxSpeed)
@@ -53,17 +53,17 @@
 interactions = events.createInteractions(objects)
 for inter in interactions:
     inter.computeIndicators()
-    # inter.computeCrossingsCollisions(constantVelocityPredictionParameters, collisionDistanceThreshold, timeHorizon, computeCZ)
+    inter.computeCrossingsCollisions(constantVelocityPredictionParameters, collisionDistanceThreshold, timeHorizon, computeCZ)
 
 storage.saveIndicators(params.databaseFilename, interactions)
 
-if display:
-    plt.figure()
-    plt.axis('equal')
-    for inter in interactions[:2]:
-        for collisionPoints in inter.collisionPoints.values():
-            for cp in collisionPoints:
-                plot([cp.x], [cp.y], 'x')
+# if display:
+#     plt.figure()
+#     plt.axis('equal')
+#     for inter in interactions[:2]:
+#         for collisionPoints in inter.collisionPoints.values():
+#             for cp in collisionPoints:
+#                 plot([cp.x], [cp.y], 'x')
 
 # for the demo, output automatically a map
 # possibility to process longitudinal coords only

--- a/tracking.cfg	Wed Jun 26 17:28:45 2013 -0400
+++ b/tracking.cfg	Wed Jun 26 18:40:31 2013 -0400
@@ -10,7 +10,7 @@
 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
@@ -62,3 +62,12 @@
 min-velocity-cosine = 0.8
 # minimum average number of features per frame to create a vehicle hypothesis
 min-nfeatures-group = 3
+# 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
\ No newline at end of file