diff --git a/main_scene_flow_impair.cpp b/main_scene_flow_impair.cpp
index e79975c..756c647 100644
--- a/main_scene_flow_impair.cpp
+++ b/main_scene_flow_impair.cpp
@@ -26,6 +26,89 @@
 using namespace std;
 
 
+/**
+ * Parse arguments from the command line. Valid arguments are:
+ * --help (in which case other args are ignored)
+ * --rows r
+ * --i1 <filename> The first RGB image file name. Defaults to i1.png
+ * --i2 <filename> The second RGB image file name
+ * --z1 <filename> The first depth image file name
+ * --z2 <filename> The second depth image file name
+ * @param num_arg Number of arguments present
+ * @param argv Array of pointers to arguments
+ * @param args A launch_args structure which is populated by this method.
+ * @return true if arguments were successfully parsed, otherwise false
+ */ 
+bool parse_arguments( int num_arg, char *argv[], Launch_args& args) {
+	// Initialise with defaults
+	args.show_help = 0;
+	args.rows = 240;
+	args.intensity_filename_1 = "i1.png";
+	args.intensity_filename_2 = "i2.png";
+	args.depth_filename_1 = "z1.png";
+	args.depth_filename_1 = "z2.png";
+	args.output_filename_root = "out";
+
+	// Now check what's provided
+	bool parsed_ok = true;
+	int arg_idx = 1;
+	while( parsed_ok && ( arg_idx < num_arg ) ){
+		if( strcmp( "--help", argv[arg_idx]) == 0 ) {
+			// Stop parsing after seeing help
+			args.show_help = 1;
+			break;
+
+		} else if ( strcmp( "--rows", argv[arg_idx]) == 0 ) {
+			int rows = -1;
+			if( ++arg_idx < num_arg ) {
+				rows = stoi( argv[arg_idx]);
+			}
+			if( rows == 15 || rows == 30 || rows == 60 || rows == 120 || rows == 240 || rows == 480 ) {
+				args.rows = rows;
+			} else {
+				parsed_ok = false;
+			} 
+		} else if ( strcmp( "--i1", argv[arg_idx]) == 0 ) {
+			if( ++arg_idx < num_arg ) {
+				args.intensity_filename_1 = argv[arg_idx];
+			} else {
+				parsed_ok = false;
+			}
+		} else if ( strcmp( "--i2", argv[arg_idx]) == 0 ) {
+			if( ++arg_idx < num_arg ) {
+				args.intensity_filename_2 = argv[arg_idx];
+			} else {
+				parsed_ok = false;
+			}
+		} else if ( strcmp( "--z1", argv[arg_idx]) == 0 ) {
+			if( ++arg_idx < num_arg ) {
+				args.depth_filename_1 = argv[arg_idx];
+			} else {
+				parsed_ok = false;
+			}
+		} else if ( strcmp( "--z2", argv[arg_idx]) == 0 ) {
+			if( ++arg_idx < num_arg ) {
+				args.depth_filename_2 = argv[arg_idx];
+			} else {
+				parsed_ok = false;
+			}
+		} else if ( strcmp( "--out", argv[arg_idx]) == 0 ) {
+			if( ++arg_idx < num_arg ) {
+				args.output_filename_root = argv[arg_idx];
+			} else {
+				parsed_ok = false;
+			}
+		} else {
+			parsed_ok = false;
+			break;
+		}
+
+		arg_idx++;
+	}
+
+	return parsed_ok;
+}
+
 // ------------------------------------------------------
 //						MAIN
 // ------------------------------------------------------
@@ -35,30 +118,27 @@ int main(int num_arg, char *argv[])
 	//==============================================================================
 	//								Read arguments
 	//==============================================================================
-	unsigned int rows = 240;	//Default value
-
-	if (num_arg <= 1); //No arguments
-	else if ( string(argv[1]) == "--help")
-	{
+	Launch_args args;
+	if( !parse_arguments( num_arg, argv, args ) || args.show_help ) {
 		printf("\n\t       Arguments of the function 'main' \n");
 		printf("==============================================================\n\n");
 		printf(" --help: Shows this menu... \n\n");
 		printf(" --rows r: Number of rows at the finest level of the pyramid. \n");
 		printf("\t   Options: r=15, r=30, r=60, r=120, r=240, r=480 (if VGA)\n");
+ 		printf(" --i1 <filename> The first RGB image file name. Defaults to i1.png\n" );
+ 		printf(" --i2 <filename> The second RGB image file name. Defaults to i2.png\n" );
+ 		printf(" --z1 <filename> The first depth image file name. Defaults to z1.png\n" );
+ 		printf(" --z2 <filename> The second depth image file name. Defaults to z2.png\n" );
+ 		printf(" --out <filename> The output file name root. Omit file extension. Defaults to \n" );
         getwchar();
 		return 1;
 	}
-	else
-	{
-		if ( string(argv[1]) == "--rows")
-            rows = stoi(argv[2]);
-	}
 
 	//==============================================================================
 	//								Main operations
 	//==============================================================================
 
-	PD_flow_opencv sceneflow(rows);
+	PD_flow_opencv sceneflow(args.rows, args.intensity_filename_1, args.intensity_filename_2, args.depth_filename_1, args.depth_filename_2, args.output_filename_root);
 
 	//Initialize CUDA and set some internal variables 
     sceneflow.initializeCUDA();
diff --git a/scene_flow_impair.h b/scene_flow_impair.h
index 4bfc490..854bf3e 100644
--- a/scene_flow_impair.h
+++ b/scene_flow_impair.h
@@ -48,6 +48,19 @@
 
 
 
+//==================================================================
+//  Arguments for running the algorithm - parsed from command line
+//==================================================================
+struct Launch_args {
+    unsigned int    rows;
+    unsigned int    show_help;
+    const char      *intensity_filename_1;
+    const char      *intensity_filename_2;
+    const char      *depth_filename_1;
+    const char      *depth_filename_2;
+    const char      *output_filename_root;
+};
+
 //==================================================================
 //					PD-Flow class (using openCV)
 //==================================================================