use_video		0;
use_open_gl		1;
#image_filename		/home/vz/sw/reg-tmp/car-small.pgm;
#model_filename	/sw/models/obj/car.smooth.obj;
image_filename		/home/sw/data/car-small.pgm;
model_filename	/home/sw/models/car.smooth.obj;


min_z			1000.0;
max_z			2000.0;
display_sparseness	30;
f_length		14.1;
pixel_x			.078125;
pixel_y			.078125;

balloonage		-1.0;
do_albedo 0;



normal_buckets		32;
intensity_buckets	32;

do_display	1;
do_diagnostic_display 1;

Pose <pose <m3x1	-60 20 1600 > <Q 0.806707 0.142244 0.564862 0.0996005>>;

xy_range	100;
z_range		400;
theta_range	60;
#samples		50;
samples		10;

sample_size 		100000;

# these are only really used by the tracker
gain_growth_factor	1.0;
balloon_fudge		0.025;
rot_fudge		-.1;
lambda_t 		.5;
lambda_tz		10.0;
lambda_r 		.00001;
lambda_rz 		.0001;

