# IC-GVINS  GNC

# 结果输出路径
# Output directory
outputpath: "/media/syl/SYL/gici-data/20230327/1.1/log"
is_make_outputdir: true

# 时间信息, s
# Time length for GNSS/INS intialization
initlength: 1

# IMU原始数据频率, Hz
# IMU sample rate
imudatarate: 400

# 考虑地球自转补偿项
# Consider the Earth rotation
iswithearth: true   

# 天线杆臂, IMU前右下方向, m
# GNSS lever-arm in IMU body frame (front-right-down)
antlever: [-0.042, 0.354, 0.029] 

# IMU噪声建模参数
# IMU noise parameters
imumodel:
    arw: 0.34377       # deg/sqrt(hr) 速度随机游走, m / s^1.5
    vrw: 0.12        # m/s/sqrt(hr) 
    gbstd: 4.33156     # deg/hr
    abstd: 84.0     # mGal
    corrtime: 1.0   # hr

# GNSS中断配置
# GNSS outage configurations, the GNSS will not be used after the gnssoutagetime 
isusegnssoutage: false
gnssoutagetime: 121000.400000

# 固定阈值GNSS抗差
# A fixed threshold (STD, m) for GNSS outlier culling
gnssthreshold: 20

# 是否开启可视化
# Use visualization
is_use_visualization: true

# 跟踪
# Tracking configurations
track_check_histogram: false    # 直方图检查, 避免出现光照变化较大的图像 (Check histogram for drastic illumulation change)
track_min_parallax: 15          # 关键帧最小像素视差 (The minmum parallax in pixels to choose a keyframe)
track_max_interval: 0.5         # 最大的关键帧间隔, 超过则插入观测帧, s (The maximum lenght to choose a observation frame)
track_max_features: 300         # 最大提取特征数量 (The maximum features to detect, may be more or less, see tracking.cc)

# 优化
# Optimization configurations
reprojection_error_std: 1.5         # 像素重投影误差 (The reprojection error std for optimizition and outlier culling)
optimize_windows_size: 10           # 滑动窗口大小 (The size of the sliding window, number of the keyframes )
optimize_num_iterations: 20         #  优化迭代次数 (The iterations in total)
optimize_estimate_extrinsic: true  # 建议false，估计出的外参飘忽不定，误差很大，可能是因为车辆运动速度过快导致。是否估计相机和IMU的外参 (Estimate the extrinsic)
optimize_estimate_td: true         # 否估计相机和IMU之间的时间间隔 (Estimate the time delay)

# Camera parameters
cam0:
    # 内参 [fx, fy, cx, cy(, skew)]
    # Intrinsic parameters, pinhole model
    intrinsic: 
        [
            510.12091726559544, 
            509.55338413343736, 
            357.48596105253193, 
            240.00309579253124
        ]

    # 畸变参数 [k1, k2, p1, p2(, k3)]
    # Distortion parameters
    distortion: 
        [
            -0.36472323465957157, 
            0.11530151924890532, 
            0.0006024586154990503, 
            0.0020184970860498133
        ]

    # 图像分辨率
    # Resolution
    resolution: [752, 480]

    # 相机IMU外参 (Camera-IMU extrinsic)
    # Pb = q_b_c * Pc + t_b_c
    # q (x, y, z, w)
    q_b_c: [0.504847611247718, 0.496119477219145, 0.501848515391305, 0.497134208580358]
    # t_b_c: [0.025008868367930974, 0.0110786309679912626,0.0229793554058591656]
    t_b_c: [0.025009, 0.011079, 0.022979]
    # IMU和相机时间延时 (The time delay between the IMU and camera)
    # t_i = t_c + td
    td_b_c: 0.0