image_filename		car-small.pgm;
obj_model_filename	/sw/models/obj/car.smooth.obj;

#min_z			-150;
min_z			-130;
max_z			50;
display_sparseness	30;
f_length		14.1;
pixel_x			.078125;
pixel_y			.078125;

sample_size 		100000;
fudge			16;
#fudge			10000000;
light_seek		0.0;

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

iterations 		10000;

lambda_t 		1000;
lambda_tz		3000;
# lambda_t 		0;
# lambda_tz		0;

#lambda_r 		.0;
#lambda_rz 		.0;
lambda_r 		.05;
lambda_rz 		.05;


#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?
#                       -55 worked with rotation disabled
# 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	-35.0      -50.4829 520.438 > <Q 0.589417 0.59126 0.306384 -0.457305>>;
# Pose  <pose <m3x1	 10        -50.4829 520.438 > <Q 0.589417 0.59126 0.306384 -0.457305>>;
# Pose  <pose <m3x1	-3.29872   -38.0    520.438 > <Q 0.589417 0.59126 0.306384 -0.457305>>;
# Pose  <pose <m3x1	-3.29872   -60.0    520.438 > <Q 0.589417 0.59126 0.306384 -0.457305>>;
# Pose  <pose <m3x1	-3.29872   -50.4829 590.    > <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>>;



do_display		1;
report_interval 	1;


