%YAML:1.0 # need to specify the file type at the top!

verbosity: "INFO" # ALL, DEBUG, INFO, WARNING, ERROR, SILENT

use_fej: true # if we should use first-estimate Jacobians (enable for good consistency)
use_imuavg: true # for our discrete integration, if we should average sequential IMU measurements to "smooth" it
use_rk4int: true # if rk4 integration should be used (overrides imu averaging)

use_stereo: true # if we have more than 1 camera, if we should try to track stereo constraints
max_cameras: 2

calib_cam_extrinsics: true
calib_cam_intrinsics: true
calib_cam_timeoffset: true

max_clones: 11
max_slam: 50
max_slam_in_update: 25
max_msckf_in_update: 40
dt_slam_delay: 2

gravity_mag: 9.80766

feat_rep_msckf: "GLOBAL_3D"
feat_rep_slam: "ANCHORED_MSCKF_INVERSE_DEPTH"
feat_rep_aruco: "ANCHORED_MSCKF_INVERSE_DEPTH"

# zero velocity update parameters we can use
# we support either IMU-based or disparity detection.
try_zupt: false
zupt_chi2_multipler: 0 # set to 0 for only disp-based
zupt_max_velocity: 0.1
zupt_noise_multiplier: 50
zupt_max_disparity: 2.0 # set to 0 for only imu-based
zupt_only_at_beginning: true

# ==================================================================
# ==================================================================

init_window_time: 2.0
init_imu_thresh: 0.45 # room1-5:0.45, room6:0.25
init_max_disparity: 5.0
init_max_features: 25

init_dyn_mle_opt_calib: false
init_dyn_mle_max_iter: 50
init_dyn_mle_max_time: 0.05
init_dyn_mle_max_threads: 6
init_dyn_num_pose: 6
init_dyn_min_deg: 20.0

init_dyn_inflation_ori: 10
init_dyn_inflation_vel: 100
init_dyn_inflation_bg: 10
init_dyn_inflation_ba: 100
init_dyn_min_rec_cond: 1e-20

init_dyn_bias_g: [0.0, 0.0, 0.0]
init_dyn_bias_a: [0.0, 0.0, 0.0]

# ==================================================================
# ==================================================================

record_timing_information: false
record_timing_filepath: "/tmp/traj_timing.txt"

save_total_state: false
filepath_est: "/tmp/ov_estimate.txt"
filepath_std: "/tmp/ov_estimate_std.txt"
filepath_gt: "/tmp/ov_groundtruth.txt"

# ==================================================================
# ==================================================================

# our front-end feature tracking parameters
# we have a KLT and descriptor based (KLT is better implemented...)
use_klt: true
num_pts: 150
fast_threshold: 20
grid_x: 20
grid_y: 20
min_px_dist: 15
knn_ratio: 0.65
track_frequency: 21.0
downsample_cameras: false
multi_threading: true
histogram_method: "HISTOGRAM" # NONE, HISTOGRAM, CLAHE

# aruco tag tracker for the system
# DICT_6X6_1000 from https://chev.me/arucogen/
use_aruco: false
num_aruco: 1024
downsize_aruco: true

# ==================================================================
# ==================================================================

# camera noises and chi-squared threshold multipliers
up_msckf_sigma_px: 1
up_msckf_chi2_multipler: 1
up_slam_sigma_px: 1
up_slam_chi2_multipler: 1
up_aruco_sigma_px: 1
up_aruco_chi2_multipler: 1

# masks for our images
use_mask: true
mask0: "../../ov_data/masks/tumvi0.png" #relative to current file
mask1: "../../ov_data/masks/tumvi1.png" #relative to current file

# imu and camera spacial-temporal
# imu config should also have the correct noise values
relative_config_imu: "kalibr_imu_chain.yaml"
relative_config_imucam: "kalibr_imucam_chain.yaml"