use_video		0;
use_open_gl		1;

image_filename		../data/car.pgm;
model_filename		../models/obj/car-cent.obj;


min_z			1000.0;
max_z			2000.0;
display_sparseness	.3;
f_length		12.971693;
pixel_x			0.02;
pixel_y			0.02;

balloonage		-1.0;
do_albedo 0;



normal_buckets		32;
intensity_buckets	32;

do_display	1;
do_diagnostic_display 	0;

Pose <pose <m3x1 	-18 -19 1390 > <Q 0.834726 0.202973 0.496748 0.123594>>;

xy_range	80;
z_range		300;
theta_range	20;
#samples		50;
samples		50;

sample_size 		100000;

# these are only really used by the tracker
gain_growth_factor	1.0;
balloon_fudge		0.025;
rot_fudge		-.1;
lambda_t 		.5;
lambda_tz		10.0;
lambda_r 		.00001;
lambda_rz 		.0001;

