image_filename		../data/ron/ron1-bw-2.pgm;
model_pnl_filename	../models/ron.pnl;

display_sparseness	30;
f_length		14.1;
pixel_x			.078125;
pixel_y			.078125;

sample_size 		100000;

# most experiments done with 32,32
# 64,16 seems interesting?
normal_buckets		32;
intensity_buckets	32;

iterations 		10000;

lambda_t 		1000;
lambda_tz		10000;
# lambda_t 		0;
# lambda_tz		0;

lambda_r 		.2;
lambda_rz 		.2;
# lambda_r 		.0;
# lambda_rz 		.0;


#stdin_pose		0;

# the right pose, kind of...
# Pose  <pose <m3x1	-3.29872   -50.4829 520.438 > <Q 0.589417 0.59126 0.306384 -0.457305>>;


# translation?
# Pose  <pose <m3x1	-18.0      -50.4829 520.438 > <Q 0.589417 0.59126 0.306384 -0.457305>>;
# Pose  <pose <m3x1	-25.0      -50.4829 520.438 > <Q 0.589417 0.59126 0.306384 -0.457305>>;
# Pose  <pose <m3x1	-30.0      -50.4829 520.438 > <Q 0.589417 0.59126 0.306384 -0.457305>>;
# Pose  <pose <m3x1	 -2        -50.4829 520.438 > <Q 0.589417 0.59126 0.306384 -0.457305>>;
# Pose  <pose <m3x1	-3.29872   -43.0    520.438 > <Q 0.589417 0.59126 0.306384 -0.457305>>;
# Pose  <pose <m3x1	-3.29872   -55.0    520.438 > <Q 0.589417 0.59126 0.306384 -0.457305>>;
Pose  <pose <m3x1	-3.29872   -50.4829 610.    > <Q 0.589417 0.59126 0.306384 -0.457305>>;
# Pose  <pose <m3x1	-3.29872   -50.4829 450.    > <Q 0.589417 0.59126 0.306384 -0.457305>>;



# rotation?
# Pose  <pose <m3x1	-3.29872 -50.4829 520.438 > <Q 0.589417 0.59126 0.306384 -0.457305>>;
# Pose  <pose <m3x1	-3.29872 -50.4829 520.438 > <Q 0.589417 0.52     0.306384 -0.457305>>;
# Pose  <pose <m3x1	-3.29872 -50.4829 520.438 > <Q 0.589417 0.65     0.306384 -0.457305>>;
# Pose  <pose <m3x1	-3.29872 -50.4829 520.438 > <Q 0.589417 0.59126 0.29     -0.457305>>;
# Pose  <pose <m3x1	-3.29872 -50.4829 520.438 > <Q 0.589417 0.59126 0.50     -0.457305>>;
# Pose  <pose <m3x1	-3.29872 -50.4829 520.438 > <Q 0.589417 0.59126 0.306384 -0.35>>;
# Pose  <pose <m3x1	-3.29872 -50.4829 520.438 > <Q 0.589417 0.59126 0.306384 -0.65>>;




# try both...
# Pose  <pose <m3x1	0.0   -30.4829 541.438 > <Q 0.589417 0.59126 0.306384 -0.457305>>;
# Pose  <pose <m3x1	0.0   -30.4829 541.438 > <Q 0.589417 0.59126 0.206384 -0.457305>>;
# Pose  <pose <m3x1	0.0   -30.4829 541.438 > <Q 0.589417 0.79126 0.306384 -0.457305>>;
# Pose  <pose <m3x1	0.0   -30.4829 541.438 > <Q 0.589417 0.59126 0.306384 -0.257305>>;

# z translation seems to be winning?
# Pose <pose <m3x1	0 -50 500 > <Q 0.541675 0.612373 0.353553 -0.45452>>;
# Pose <pose <m3x1	0 -50 600 > <Q 0.541675 0.612373 0.353553 -0.45452>>;
# Pose <pose <m3x1	0 -50 700 > <Q 0.541675 0.612373 0.353553 -0.45452>>;


do_display		1;


