{
  "max_iterations": 15,
  "max_points_per_frame": 2000,
  "min_points_per_frame": 64,
  "translation_bound_m": 0.5,
  "convergence_step_m": 0.0001,
  "max_depth_jump_fraction": 0.05,
  "disparity_sigma_px": 0.5,
  "lidar_sigma_m": 0.02,
  "depth_gate_floor_m": 1.0,
  "max_condition_number": 1000.0
}