image_filename		../data/cube-s.pgm;
cube_test		1;
display_sparseness	50;
f_length		14.1;
pixel_x			.0390625;
pixel_y			.0390625;

sample_size 		100000;
normal_buckets		32;
intensity_buckets	32;

iterations 		10000;

lambda_t 		1000;
lambda_tz		1000;
# lambda_t 		0;
# lambda_tz		0;
lambda_r 		.5;
lambda_rz 		.2;

# 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	-35 0 500 > <Q 0.899757 -0.289164 0.307471 0.110825>>;
# Pose 	 <pose <m3x1	35 0 500 > <Q 0.899757 -0.289164 0.307471 0.110825>>;
# Pose 	 <pose <m3x1	0 20 500 > <Q 0.899757 -0.289164 0.307471 0.110825>>;
# Pose 	 <pose <m3x1	0 20 475 > <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 -0.089164 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>>;




do_display		1;
