diff --git a/cmd/camera-streamer.c b/cmd/camera-streamer.c
index 82ca7a0..c405f13 100644
--- a/cmd/camera-streamer.c
+++ b/cmd/camera-streamer.c
@@ -102,6 +102,7 @@ camera_options_t camera_options = {
   .auto_reconnect = 0,
   .auto_focus = true,
   .options = "",
+  .list_options = false,
   .h264 = {
     .options =
       "video_bitrate_mode=0" OPTION_VALUE_LIST_SEP
@@ -153,30 +154,31 @@ option_value_t camera_type[] = {
 };
 
 option_t all_options[] = {
-  DEFINE_OPTION_PTR(camera, path, string),
-  DEFINE_OPTION(camera, width, uint),
-  DEFINE_OPTION(camera, height, uint),
-  DEFINE_OPTION_VALUES(camera, format, camera_formats),
-  DEFINE_OPTION(camera, nbufs, uint),
-  DEFINE_OPTION_VALUES(camera, type, camera_type),
-  DEFINE_OPTION(camera, fps, uint),
-  DEFINE_OPTION_DEFAULT(camera, allow_dma, bool, "1"),
-  DEFINE_OPTION(camera, high_res_factor, float),
-  DEFINE_OPTION(camera, low_res_factor, float),
-  DEFINE_OPTION_PTR(camera, options, list),
-  DEFINE_OPTION(camera, auto_reconnect, uint),
-  DEFINE_OPTION_DEFAULT(camera, auto_focus, bool, "1"),
+  DEFINE_OPTION_PTR(camera, path, string, "Chooses the camera to use."),
+  DEFINE_OPTION(camera, width, uint, "Set the camera capture width."),
+  DEFINE_OPTION(camera, height, uint, "Set the camera capture height."),
+  DEFINE_OPTION_VALUES(camera, format, camera_formats, "Set the camera capture format."),
+  DEFINE_OPTION(camera, nbufs, uint, "Set number of capture buffers. Preferred 2 or 3."),
+  DEFINE_OPTION_VALUES(camera, type, camera_type, "Select camera capture."),
+  DEFINE_OPTION(camera, fps, uint, "Set the desired capture framerate."),
+  DEFINE_OPTION_DEFAULT(camera, allow_dma, bool, "1", "Prefer to use DMA access to reduce memory copy."),
+  DEFINE_OPTION(camera, high_res_factor, float, "Set the desired high resolution output scale factor."),
+  DEFINE_OPTION(camera, low_res_factor, float, "Set the desired low resolution output scale factor."),
+  DEFINE_OPTION_PTR(camera, options, list, "Set the camera options. List all available options with `-camera-list_options`."),
+  DEFINE_OPTION(camera, auto_reconnect, uint, "Set the camera auto-reconnect delay in seconds."),
+  DEFINE_OPTION_DEFAULT(camera, auto_focus, bool, "1", "Do auto-focus on start-up."),
 
-  DEFINE_OPTION_PTR(camera, isp.options, list),
-  DEFINE_OPTION_PTR(camera, jpeg.options, list),
-  DEFINE_OPTION_PTR(camera, h264.options, list),
+  DEFINE_OPTION_PTR(camera, isp.options, list, "Set the ISP processing options. List all available options with `-camera-list_options`."),
+  DEFINE_OPTION_PTR(camera, jpeg.options, list, "Set the JPEG compression options. List all available options with `-camera-list_options`."),
+  DEFINE_OPTION_PTR(camera, h264.options, list, "Set the H264 encoding options. List all available options with `-camera-list_options`."),
+  DEFINE_OPTION_DEFAULT(camera, list_options, bool, "1", "List all available options and exit."),
 
-  DEFINE_OPTION(http, port, uint),
-  DEFINE_OPTION(http, maxcons, uint),
+  DEFINE_OPTION(http, port, uint, "Set the HTTP web-server port."),
+  DEFINE_OPTION(http, maxcons, uint, "Set maximum number of concurrent HTTP connections."),
 
-  DEFINE_OPTION_DEFAULT(log, debug, bool, "1"),
-  DEFINE_OPTION_DEFAULT(log, verbose, bool, "1"),
-  DEFINE_OPTION_PTR(log, filter, list),
+  DEFINE_OPTION_DEFAULT(log, debug, bool, "1", "Enable debug logging."),
+  DEFINE_OPTION_DEFAULT(log, verbose, bool, "1", "Enable verbose logging."),
+  DEFINE_OPTION_PTR(log, filter, list, "Enable debug logging from the given files. Ex.: `-log-filter=buffer.cc`"),
 
   {}
 };
@@ -190,6 +192,18 @@ int main(int argc, char *argv[])
     return -1;
   }
 
+  if (camera_options.list_options) {
+    camera = camera_open(&camera_options);
+    if (camera) {
+      printf("\n");
+      for (int i = 0; i < MAX_DEVICES; i++) {
+        device_dump_options(camera->devices[i], stdout);
+      }
+      camera_close(&camera);
+    }
+    return -1;
+  }
+
   http_fd = http_server(&http_options, http_methods);
   if (http_fd < 0) {
     goto error;
diff --git a/device/camera/camera.h b/device/camera/camera.h
index 4ceaa67..cbd47a1 100644
--- a/device/camera/camera.h
+++ b/device/camera/camera.h
@@ -26,6 +26,7 @@ typedef struct camera_options_s {
   unsigned auto_reconnect;
 
   char options[CAMERA_OPTIONS_LENGTH];
+  bool list_options;
 
   struct {
     char options[CAMERA_OPTIONS_LENGTH];
diff --git a/opts/opts.c b/opts/opts.c
index 7350cb7..c2fd104 100644
--- a/opts/opts.c
+++ b/opts/opts.c
@@ -5,29 +5,75 @@
 #include <stdio.h>
 #include <limits.h>
 
-static void print_help(option_t *options)
+#define OPT_LENGTH 30
+
+static void print_help(option_t *options, const char *cmd)
 {
+  printf("Usage:\n");
+  printf("$ %s <options...>\n", cmd);
+  printf("\n");
+
+  printf("Options:\n");
   for (int i = 0; options[i].name; i++) {
     option_t *option = &options[i];
+    int len = 0;
 
-    printf("%40s\t", option->name);
+    len += printf("  -%s", option->name);
+    if (option->default_value) {
+      len += printf("[=%s]", option->default_value);
+    } else if (option->value_mapping) {
+      len += printf("=arg");
+    } else {
+      len += printf("=%s", option->format);
+    }
+    if (len < OPT_LENGTH) {
+      printf("%*s", OPT_LENGTH-len, " ");
+    }
+
+    printf("- %s", option->description);
+    if (option->value_mapping) {
+      printf(" Values: ");
+      for (int j = 0; option->value_mapping[j].name; j++) {
+        if (j > 0) printf(", ");
+        printf("%s", option->value_mapping[j].name);
+      }
+      printf(".");
+    }
+    printf("\n");
+  }
+  printf("\n");
+
+  printf("Configuration:\n");
+  for (int i = 0; options[i].name; i++) {
+    option_t *option = &options[i];
+    int len = 0;
 
     if (option->value_list) {
       char *string = option->value_list;
       char *token;
-      int tokens = 0;
+
+      if (!*string)
+        continue;
 
       while ((token = strsep(&string, OPTION_VALUE_LIST_SEP)) != NULL) {
-        if (tokens++ > 0)
-          printf("\n%40s\t", "");
-        printf("%s", token);
+        len = printf("  -%s=", option->name);
+        if (len < OPT_LENGTH) {
+          printf("%*s", OPT_LENGTH-len, " ");
+        }
+        printf("%s\n", token);
       }
-
-      if (!tokens)
-        printf("(none)");
     } else if (option->value_string) {
+      len += printf("  -%s=", option->name);
+      if (len < OPT_LENGTH) {
+        printf("%*s", OPT_LENGTH-len, " ");
+      }
       printf(option->format, option->value_string);
+      printf("\n");
     } else {
+      len += printf("  -%s=", option->name);
+      if (len < OPT_LENGTH) {
+        printf("%*s", OPT_LENGTH-len, " ");
+      }
       if (option->value_mapping) {
         for (int j = 0; option->value_mapping[j].name; j++) {
           if (option->value_mapping[j].value == *option->value) {
@@ -39,10 +85,10 @@ static void print_help(option_t *options)
 
       unsigned mask = UINT_MAX >> ((sizeof(*option->value) - option->size) * 8);
       printf(option->format, *option->value & mask);
+      printf("\n");
     }
-
-    printf("\n");
   }
+  printf("\n");
 }
 
 static int parse_opt(option_t *options, const char *key)
@@ -116,7 +162,7 @@ int parse_opts(option_t *options, int argc, char *argv[])
     }
 
     if (!strcmp(key, "help")) {
-      print_help(options);
+      print_help(options, argv[0]);
       return -1;
     }
 
diff --git a/opts/opts.h b/opts/opts.h
index 265ede5..19c7da0 100644
--- a/opts/opts.h
+++ b/opts/opts.h
@@ -23,6 +23,7 @@ typedef struct options_s {
   option_value_t *value_mapping;
   unsigned size;
   const char *default_value;
+  const char *description;
 } option_t;
 
 #define OPTION_VALUE_LIST_SEP ";"
@@ -34,38 +35,42 @@ typedef struct options_s {
 #define OPTION_FORMAT_string "%s"
 #define OPTION_FORMAT_list   "%s"
 
-#define DEFINE_OPTION(_section, _name, _type) \
+#define DEFINE_OPTION(_section, _name, _type, _desc) \
   { \
     .name = #_section "-" #_name, \
     .value_##_type = &_section##_options._name, \
     .format = OPTION_FORMAT_##_type, \
     .size = sizeof(_section##_options._name), \
+    .description = _desc, \
   }
 
-#define DEFINE_OPTION_DEFAULT(_section, _name, _type, _default_value) \
+#define DEFINE_OPTION_DEFAULT(_section, _name, _type, _default_value, _desc) \
   { \
     .name = #_section "-" #_name, \
     .value_##_type = &_section##_options._name, \
     .format = OPTION_FORMAT_##_type, \
     .size = sizeof(_section##_options._name), \
     .default_value = _default_value, \
+    .description = _desc, \
   }
 
-#define DEFINE_OPTION_VALUES(_section, _name, _value_mapping) \
+#define DEFINE_OPTION_VALUES(_section, _name, _value_mapping, _desc) \
   { \
     .name = #_section "-" #_name, \
     .value_hex = &_section##_options._name, \
     .format = OPTION_FORMAT_hex, \
     .value_mapping = _value_mapping, \
     .size = sizeof(_section##_options._name), \
+    .description = _desc, \
   }
 
-#define DEFINE_OPTION_PTR(_section, _name, _type) \
+#define DEFINE_OPTION_PTR(_section, _name, _type, _desc) \
   { \
     .name = #_section "-" #_name, \
     .value_##_type = _section##_options._name, \
     .format = OPTION_FORMAT_##_type, \
     .size = sizeof(_section##_options._name), \
+    .description = _desc, \
   }
 
 int parse_opts(option_t *options, int argc, char *argv[]);