use_video		0;
use_open_gl		1;

#image_filename		../data/ny-img-s.pgm;
image_filename		../data/ny-img-s-small.pgm;
#image_filename		../data/skull-hs1-l01.pgm;
model_filename		../models/obj/tiny-c.obj;


min_z			500.0;
max_z			1500.0;
display_sparseness	.3;
#f_length		12.971693;
f_length		6.5;
pixel_x			0.01868440277778;
pixel_y			0.02012083333334;

balloonage		-1.0;
do_albedo 0;



normal_buckets		32;
intensity_buckets	32;

do_display	1;
do_diagnostic_display 	0;

xy_range	100;
z_range		400;
theta_range	60;
#samples		50;
samples		50;

sample_size 		100000;

# these are only really used by the tracker

iterations		1000;
gain_growth_factor	1.4;
#balloon_fudge		0.025;
balloon_fudge		.00;
#balloon_fudge		-0.1;
#rot_fudge		0.0;
rot_fudge		1.0;
lambda_t 		1.0;
# lambda_tz		1.0;
lambda_tz		8.0;


#lambda_r 		.00002;
#lambda_rz 		.00008;

# lambda_r 		.0001;
lambda_r 		-.0001;
lambda_rz 		.0002;


# truth:
# Pose <pose <m3x1 	-6 -47 1080 > <Q 0.907674 -0.24321 -0.330366 -0.0885213>>;

# Pose <pose <m3x1 	0 -47 1080 > <Q 0.907674 -0.24321 -0.330366 -0.0885213>>;
# Pose <pose <m3x1 	-6 -35 1080 > <Q 0.907674 -0.24321 -0.330366 -0.0885213>>;

# nice:
# Pose <pose <m3x1 	-6 -87 1080 > <Q 0.907674 -0.24321 -0.330366 -0.0885213>>;

# Pose <pose <m3x1 	-6 -47 950 > <Q 0.907674 -0.24321 -0.330366 -0.0885213>>;
# Pose <pose <m3x1 	-6 -47 1300 > <Q 0.907674 -0.24321 -0.330366 -0.0885213>>;

# rz
# Pose <pose <m3x1 	-6 -47 1080 > <Q 0.907674 -0.24321 -0.330366 -0.2>>;

# r
#Pose <pose <m3x1 	-6 -47 1080 > <Q 0.907674 -0.24321 -0.30366 -0.0885213>>;
#Pose <pose <m3x1 	-6 -47 1080 > <Q 0.907674 -0.24321 -0.36366 -0.0885213>>;

#Pose <pose <m3x1 	-6 -47 1080 > <Q 0.907674 -0.24321 -0.35366 -0.0885213>>;

# nice (negative lambda r...)
# Pose <pose <m3x1 	-6 -47 1080 > <Q 0.907674 -0.24321 -0.24366 -0.0885213>>;



# r and t
# Pose <pose <m3x1 	-6 -37 1080 > <Q 0.907674 -0.24321 -0.24366 -0.0885213>>;
# Pose <pose <m3x1 	-6 -37 1080 > <Q 0.907674 -0.24321 -0.24366 -0.2>>;
Pose <pose <m3x1 	-6 -57 1080 > <Q 0.907674 -0.24321 -0.24366 -0.2>>;



# ---------------------------------------------------------------------------

# Pose <pose <m3x1 	10 -47 1080 > <Q 0.907674 -0.24321 -0.330366 -0.0885213>>;
# Pose <pose <m3x1 	-6 -37 1080 > <Q 0.907674 -0.24321 -0.330366 -0.0885213>>;
# Pose <pose <m3x1 	-6 -47 1000 > <Q 0.907674 -0.24321 -0.330366 -0.0885213>>;
# Pose <pose <m3x1 	-6 -47 950 > <Q 0.907674 -0.24321 -0.330366 -0.0885213>>;

# rz:
# Pose <pose <m3x1 	-6 -47 1080 > <Q 0.907674 -0.24321 -0.330366 -0.3>>;


# Pose <pose <m3x1 	-6 -47 1080 > <Q 0.907674 -0.24321 -0.230366 -0.0885213>>;
# Pose <pose <m3x1 	-6 -47 1080 > <Q 0.907674 -0.14321 -0.330366 -0.0885213>>;

