image_filename		../data/car-small.pgm;
model_pnl_filename	../models/chev.pnl;

display_sparseness	30;
f_length		14.1;
pixel_x			.078125;
pixel_y			.078125;

sample_size 		100000;
light_seek		0.0;

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

iterations 		10000;

# balloon_fudge		0.01;
balloon_fudge		0.025;
rot_fudge		-.05;
balloonage		10.0;

gain_growth_factor	1.5;

lambda_t 		.5;
lambda_tz		10.0;
# lambda_t 		0;
# lambda_tz		0;

# lambda_r 		.0;
# lambda_rz 		.0;
lambda_r 		.00001;
lambda_rz 		.0001;


#stdin_pose		0;

# Pose <pose <m3x1 	0 0 700 > <Q 0.178307 0.0121791 0.970238 0.163388>>;
Pose <pose <m3x1 	100 0 700 > <Q 0.178307 0.0121791 0.970238 0.163388>>;


do_display		1;
report_interval 	1;


