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;

sample_size 		100000;

# these are only really used by the tracker

gain_growth_factor	1.4;
# larger value causes it to move away?
# balloon_fudge		0.003;
balloon_fudge		-0.0045;
rot_fudge		0;

iterations 1000;

lambda_t 		.5;
lambda_tz		20.;
lambda_r 		-.00003;
lambda_rz 		.00003;

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

# tx, ty
# Pose <pose <m3x1 	15 -19 1390 > <Q 0.834726 0.202973 0.496748 0.123594>>;
# Pose <pose <m3x1 	-18 -19 1390 > <Q 0.834726 0.202973 0.496748 0.123594>>;


# rz
# Pose <pose <m3x1 	-18 -19 1390 > <Q 0.834726 0.202973 0.496748 0.223594>>;

# tz
# Pose <pose <m3x1 	-18 -19 1300 > <Q 0.834726 0.202973 0.496748 0.123594>>;

# rx, ry
# Pose <pose <m3x1 	-18 -19 1390 > <Q 0.834726 0.102973 0.496748 0.123594>>;
# Pose <pose <m3x1 	-18 -19 1390 > <Q 0.834726 0.075 0.496748 0.123594>>;
Pose <pose <m3x1 	-18 -19 1390 > <Q 0.834726 0.4   0.496748 0.123594>>;



