image_filename		../data/ron/ron1-bw-2.pgm;
model_pnl_filename	../models/ron-a.pnl;
balloonage		- 2.0;
do_albedo 1;


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

sample_size 		100000;

normal_buckets		32;
intensity_buckets	32;

do_display	1;

# Pose <pose <m3x1 	12.5585 -15.6284 492.34 > <Q 0.610047 0.576221 0.341267 -0.423496>>;
# Pose <pose <m3x1	5.43042 -52.2745 537.994 > <Q 0.558071 0.564312 0.394015 -0.463531>>;
Pose <pose <m3x1	9.42026 -3.45865 541.693 > <Q 0.595275 0.581594 0.331518 -0.444401>>;

xy_range	100;
z_range		400;
theta_range	60;
samples		20;


# 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;
