diff --git a/external/history.txt b/external/history.txt
index bed22a20..8c00ea7a 100644
--- a/external/history.txt
+++ b/external/history.txt
@@ -1,5 +1,6 @@
 Version NEW
  -optimized images/imtransform2
+ -optimized getPrmDflt. New way of using it too.
  -minor tweak to images/imrectLite
 
 Version 2.02 (31-Oct-07)
diff --git a/external/toolboxGenDoc.m b/external/toolboxGenDoc.m
index ba42c62d..f67c07fb 100644
--- a/external/toolboxGenDoc.m
+++ b/external/toolboxGenDoc.m
@@ -6,13 +6,6 @@
 %   toolbox/external/m2html/templates/frame-piotr/overview.html
 %   1) The version / date
 %   2) Link to rar/zip file
-%
-% After running, remove links to Subsequent directories (*/private and
-% */.svn from):
-%  doc/classify/menu.html
-%  doc/iamges/menu.html
-%  doc/filters/menu.html
-%  doc/matlab/menu.html
 % 
 % USAGE
 %  toolboxGenDoc
@@ -41,3 +34,21 @@
 
 % copy history file
 copyfile('external\history.txt','doc/history.txt')
+
+% remove links to .svn and private in the menu.html files
+d = { './doc' };
+
+while ~isempty(d)
+  dTmp = dir(d{1});
+  for i = 1 : length(dTmp)
+    name = dTmp(i).name;
+    if strcmp( name,'.') || strcmp( name,'..'); continue; end
+    if dTmp(i).isdir; d{end+1} = [ d{1} '/' name ]; continue; end
+    if ~strcmp( name,'menu.html'); continue; end
+    fid = fopen( [ d{1} '/' name ], 'r' ); c = fread(fid, '*char')'; fclose( fid );
+    c = regexprep( c, '<li>([^<]*[<]?[^<]*)\.svn([^<]*[<]?[^<]*)</li>', '');
+    c = regexprep( c, '<li>([^<]*[<]?[^<]*)private([^<]*[<]?[^<]*)</li>', '');
+    fid = fopen( [ d{1} '/' name ], 'w' ); fwrite( fid, c ); fclose( fid );
+  end
+  d(1) = [];
+end
diff --git a/matlab/getPrmDflt.m b/matlab/getPrmDflt.m
index 39eb6b00..d6c8ed3a 100644
--- a/matlab/getPrmDflt.m
+++ b/matlab/getPrmDflt.m
@@ -30,21 +30,52 @@
 
 function varargout = getPrmDflt( prm, dfs )
 
-if (iscell(prm)); prm = cell2struct( prm(2:2:end), prm(1:2:end), 2 ); end
-if(~isstruct(prm)); error('prm must be a struct'); end
-if(mod(length(dfs),2)~=0); error('incorrect num dfs'); end
+if(mod(length(dfs),2)~=0); error('odd number of default parameters'); end
 
-for i=1:2:length(dfs)
-  if( ~isfield(prm,dfs{i}) || isempty(prm.(dfs{i})) )
-    if(strcmp('REQ',dfs{i+1}))
+if (iscell(prm)) && (nargout~=1)
+  if(mod(length(prm),2)~=0); error('odd number of parameters'); end
+
+  varargout=dfs(2:2:end);
+
+  for i=1:2:length(dfs)
+    j = 0;
+    for k=1:2:length(prm)
+      if strcmp( dfs{i}, prm{k} )
+        j=k; break;
+      end
+    end
+    
+    if j==0
+      if strcmp('REQ',dfs{i+1})
+        error(['Required field ''' dfs{i} ''' not specified.'] );
+      end
+    else
+      varargout{(i+1)*0.5} = prm{j+1};
+    end
+  end
+else
+  if (iscell(prm)); prm = cell2struct( prm(2:2:end), prm(1:2:end), 2 ); end
+  if(~isstruct(prm)); error('prm must be a struct'); end
+
+  toDo = isfield( prm, dfs(1:2:end) );
+  for i=find(~toDo)
+    if(strcmp('REQ',dfs{2*i}))
       error(['Required field ''' dfs{i} ''' not specified.'] );
     else
-      prm.(dfs{i})=dfs{i+1};
+      prm.(dfs{2*i-1})=dfs{2*i};
+    end
+  end
+
+  if nargout==1
+    varargout(1) = {prm};
+  else
+    try
+      varargout = struct2cell( ordedrfields( prm, dfs ) );
+    catch
+      varargout=cell(1,nargout);
+      for i=1:2:length(dfs)
+        varargout((i+1)/2)={prm.(dfs{i})};
+      end
     end
   end
-end
-if nargout==1; varargout(1)={prm}; return; end
-varargout=cell(1,nargout);
-for i=1:2:length(dfs)
-  varargout((i+1)/2)={prm.(dfs{i})};
 end
diff --git a/matlab/isfield2.m b/matlab/isfield2.m
index 12c022eb..0c6cdefc 100644
--- a/matlab/isfield2.m
+++ b/matlab/isfield2.m
@@ -1,4 +1,4 @@
-% Similar to isfield but also test whether fields are intitialized.
+% Similar to isfield but also test whether fields are initialized.
 %
 % A more comprehensive test of what fields are present [and optionally
 % initialized] in a stuct S.  fs is either a single field name or a cell
diff --git a/matlab/rotationMatrix.m b/matlab/rotationMatrix.m
index 47d71c04..ccc9dbf4 100644
--- a/matlab/rotationMatrix.m
+++ b/matlab/rotationMatrix.m
@@ -94,7 +94,7 @@
 
 function varargout=rotationMatrix(varargin)
 
-%%% Find the closest rotation matrix
+%%% Find the closest orthonormal matrix
 if all(size(varargin{1})==[3 3]) && nargout<=1
   [U,S,V]=svd(varargin{1});
   varargout{1}=U*V';