%YAML:1.0

# additional camera parameters
camera_parameters:
    timestamp_tolerance: 0.005 # [s] stereo frame out-of-sync tolerance
    sync_cameras: [0] # the cameras that will be synchronised
    image_delay: 0.00 # [s] timestamp_camera_correct = timestamp_camera - image_delay
    online_calibration: # some parameters to set the online
        do_extrinsics: false # Do we online-calibrate extrinsics?
        do_extrinsics_final_ba: false # Do we calibrate extrinsics in final BA?
        sigma_r: 0.01 # T_SCi position prior stdev [m]
        sigma_alpha: 0.05 # T_SCi orientation prior stdev [rad]

imu_parameters:
    use: true
    a_max: 176.0 # acceleration saturation [m/s^2]
    g_max: 7.8 # gyro saturation [rad/s]
    #sigma_g_c: 20.0e-4 # gyro noise density [rad/s/sqrt(Hz)]
    #sigma_a_c: 20.0e-3 # accelerometer noise density [m/s^2/sqrt(Hz)]
    sigma_bg: 0.01 # gyro bias prior [rad/s]
    sigma_ba: 0.1 # accelerometer bias prior [m/s^2]
    #sigma_gw_c: 20.0e-5 # gyro drift noise density [rad/s^s/sqrt(Hz)]
    #sigma_aw_c: 20.0e-3 # accelerometer drift noise density [m/s^2/sqrt(Hz)]
    g: 9.81007 # Earth's acceleration due to gravity [m/s^2]
    g0: [ 0.0, 0.0, 0.0 ] # initial gyro bias [rad/s]
    a0: [ -0.05, 0.09, 0.01 ] # initial accelerometer bias [m/s^2]
    # transform Body-Sensor (IMU)
    T_BS:
        [1.0000, 0.0000, 0.0000, 0.0000,
         0.0000, 1.0000, 0.0000, 0.0000,
         0.0000, 0.0000, 1.0000, 0.0000,
         0.0000, 0.0000, 0.0000, 1.0000]

# frontend: detection etc.
frontend_parameters:
    detection_threshold: 38.0 #42.0 # detection threshold. By default the uniformity radius in pixels
    absolute_threshold: 150.0 # absolute Harris corner threshold (noise floor)
    matching_threshold: 60.0 # BRISK descriptor matching threshold
    octaves: 0 # number of octaves for detection. 0 means single-scale at highest resolution
    max_num_keypoints: 700 # restrict to a maximum of this many keypoints per image (strongest ones)
    keyframe_overlap: 0.60 # minimum field-of-view overlap
    use_cnn: false # use the CNN (if available) to filter out dynamic content / sky
    parallelise_detection: true # Run parallel detect & describe.
    num_matching_threads: 4 # Parallelise matching with this number of threads.

# estimator parameters
estimator_parameters:
    num_keyframes: 5 # number of keyframes in optimisation window
    num_loop_closure_frames: 3 # number of loop closure frames in optimisation window
    num_imu_frames: 3 # number of frames linked by most recent nonlinear IMU error terms
    do_loop_closures: true # whether to do VI-SLAM or VIO
    do_final_ba: false # Whether to run a full final BA
    enforce_realtime: false # whether to limit the time budget for optimisation
    realtime_min_iterations: 3 # minimum number of iterations always performed
    realtime_max_iterations: 10 # never do more than these, even if not converged
    realtime_time_limit: 0.035 # time budget for realtime optimisation [s]
    realtime_num_threads: 3 # number of threads for the realtime optimisation
    full_graph_iterations: 15 # don't do more than these for the full (background) optimisation
    full_graph_num_threads: 3 # number of threads for the full (background) optimisation

# some options for how and what to output
output_parameters:
    display_matches: true  # displays debug video and matches. May be slow.
    display_overhead: false # debug overhead image. Is slow.