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

f_length		14.1;
pixel_x			.078125;
pixel_y			.078125;

sample_size 		50;

sigma_uu 		.1;
sigma_vv 		2.0;
sigma_v			4.0;

iterations 		10000;
lambda_r 		0.002;
#lambda_r 		0.00004;

lambda_d 		10;
lambda_z		100;

# 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>>;


#stdin_pose		0;
#Pose <pose <m3x1	0 -50 600 > <Q 0.541675 0.612373 0.353553 -0.45452>>;
#Pose <pose <m3x1	-10 -50 600 > <Q 0.541675 0.612373 0.353553 -0.45452>>;
#Pose  <pose <m3x1	-3.29872 -50.4829 541.438 > <Q 0.589417 0.59126 0.306384 -0.457305>>;
#Pose  <pose <m3x1	-13.29872 -50.4829 541.438 > <Q 0.589417 0.59126 0.306384 -0.457305>>;
#Pose  <pose <m3x1	-23.29872 -50.4829 541.438 > <Q 0.589417 0.59126 0.306384 -0.457305>>;

#Pose  <pose <m3x1	-3.29872 -50.4829 541.438 > <Q 0.589417 0.59126 0.306384 -0.457305>>;
# Pose  <pose <m3x1	20.29872 -50.4829 541.438 > <Q 0.589417 0.59126 0.306384 -0.457305>>;


# 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>>;


z_buffer_interval	400;
do_display		1;

#who knows!
pmin			.01;
