text: // General
  depthScaling 0.001
  imageScaling 1
  sensorOffset 0.0 0.0 0.0 -0.5 0.5 -0.5 0.5
  startingPose 0.0 0.0 0.0 0.0 0.0 0.0 1.0
  breakingAngle 0.0
  breakingDistance 0.0
  breakingInlierRatio 1.0
  demoteToGICP 0
  
  // Projector
  horizontalFov 3.14
  verticalFov 1.57
  minDistance 0.5
  maxDistance 10
  imageSize 1000 1500
  
  // Stats calculator and information matrix calculators
  minImageRadius 10 
  maxImageRadius 100
  minPoints 30
  statsCalculatorCurvatureThreshold 0.05
  worldRadius 0.25
  informationMatrixCurvatureThreshold 0.05
  
  // NDT
  res 0.1 0.2 0.5 1.0
  transformationEpsilon 0.001
  resolution 0.1
  maximumIterations 30