use_video		0;
use_open_gl		1;

image_filename		../data/ny-img.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;
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;

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

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

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;

