use_video		0;
image_filename		../data/ron/ron1-bw-2.pgm;
model_filename	../models/ron.pnl;
do_albedo		0;
min_z			250;
max_z			1250;

display_sparseness	.3;
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;
# iterations 		1;

# balloon_fudge		0.01;
balloon_fudge		0.025;
rot_fudge		-.1;
# balloonage		-1.0;
balloonage		8.0;

gain_growth_factor	2.0;

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;

# the right pose, kind of...
# Pose  <pose <m3x1	-3.29872   -10.4829 620.438 > <Q 0.589417 0.59126 0.306384 -0.457305>>;

# translation?
# Pose  <pose <m3x1	-3.29872   20 620.438 > <Q 0.589417 0.59126 0.306384 -0.457305>>;
# Pose  <pose <m3x1	-3.29872   40 620.438 > <Q 0.589417 0.59126 0.306384 -0.457305>>;
Pose  <pose <m3x1	40   0 620.438 > <Q 0.589417 0.59126 0.306384 -0.457305>>;



# 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	-45.0      -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>>;



# rotation?
# Pose  <pose <m3x1	-3.29872 -50.4829 520.438 > <Q 0.589417 0.59126 0.306384 -0.457305>>;
# Pose  <pose <m3x1	-3.29872 -50.4829 520.438 > <Q 0.589417 0.52     0.306384 -0.457305>>;
# Pose  <pose <m3x1	-3.29872 -50.4829 520.438 > <Q 0.589417 0.65     0.306384 -0.457305>>;
# Pose  <pose <m3x1	-3.29872 -50.4829 520.438 > <Q 0.589417 0.75     0.306384 -0.457305>>;
# Pose  <pose <m3x1	-3.29872 -50.4829 520.438 > <Q 0.589417 0.45     0.306384 -0.457305>>;
# Pose  <pose <m3x1	-3.29872 -50.4829 520.438 > <Q 0.589417 0.59126 0.29     -0.457305>>;
# Pose  <pose <m3x1	-3.29872 -50.4829 520.438 > <Q 0.589417 0.59126 0.25     -0.457305>>;
# Pose  <pose <m3x1	-3.29872 -50.4829 520.438 > <Q 0.589417 0.59126 0.50     -0.457305>>;
# Pose  <pose <m3x1	-3.29872 -50.4829 520.438 > <Q 0.589417 0.59126 0.60     -0.457305>>;
# Pose  <pose <m3x1	-3.29872 -50.4829 520.438 > <Q 0.589417 0.59126 0.306384 -0.35>>;
# Pose  <pose <m3x1	-3.29872 -50.4829 520.438 > <Q 0.589417 0.59126 0.306384 -0.65>>;




# 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>>;



do_display		1;
do_diagnostic_display	1;
report_interval 	1;


