image_filename		../data/cube-s.pgm;
cube_test		1;
f_length		14.1;
pixel_x			.0390625;
pixel_y			.0390625;

sample_size 		50;
sigma_uu 		.1;
sigma_vv 		2.0;
sigma_v			4.0;

iterations 		10000;
lambda_r 		0.004;
#lambda_r 		0.000005;

lambda_d 		10;
lambda_z		100;
# lambda_d 		.000001;

# good pose?
# Pose 	 <pose <m3x1	0 0 500 > <Q 0.899757 -0.289164 0.307471 0.110825>>;

# translation only seems to work... in x and y (z drifting out...)
# winners
# Pose 	 <pose <m3x1	-25 0 500 > <Q 0.899757 -0.289164 0.307471 0.110825>>;
# Pose 	 <pose <m3x1	25 0 500 > <Q 0.899757 -0.289164 0.307471 0.110825>>;
# Pose 	 <pose <m3x1	0 25 500 > <Q 0.899757 -0.289164 0.307471 0.110825>>;


# Rotation only, winners:
# Pose 	 <pose <m3x1	0 0 500 > <Q 0.899757 -0.289164 0.307471 0.110825>>;
# Pose 	 <pose <m3x1	0 0 500 > <Q 0.899757 -0.189164 0.307471 0.110825>>;
# Pose 	 <pose <m3x1	0 0 500 > <Q 0.899757 -0.389164 0.307471 0.110825>>;
# Pose 	 <pose <m3x1	0 0 500 > <Q 0.899757 -0.289164 0.407471 0.110825>>;
# Pose 	 <pose <m3x1	0 0 500 > <Q 0.899757 -0.289164 0.207471 0.110825>>;
# Pose 	 <pose <m3x1	0 0 500 > <Q 0.899757 -0.289164 0.307471 0.210825>>;
# Pose 	 <pose <m3x1	0 0 500 > <Q 0.899757 -0.289164 0.307471 0.010825>>;

# Try both at once...
# Pose 	 <pose <m3x1	30 0 500 > <Q 0.899757 -0.189164 0.307471 0.110825>>;
# Pose 	 <pose <m3x1	-10 0 500 > <Q 0.899757 -0.189164 0.307471 0.110825>>;
Pose 	 <pose <m3x1	0 0 500 > <Q 0.899757 -0.289164 0.307471 -0.110825>>;




z_buffer_interval	400;
do_display		1;

#who knows!
pmin			.01;
