Add bootstrap params to PrcImuYaml creator

src/yaml/processor_imu_yaml.cpp

@@ -48,17 +48,40 @@ static ParamsProcessorBasePtr createProcessorImuParams(const std::string & _file
 
     if (config["type"].as<std::string>() == "ProcessorImu")
     {
-        YAML::Node kf_vote = config["keyframe_vote"];
 
         ParamsProcessorImuPtr params = std::make_shared<ParamsProcessorImu>();
         params->time_tolerance = config["time_tolerance"]           .as<double>();
         params->unmeasured_perturbation_std = config["unmeasured_perturbation_std"].as<double>();
 
-        params->max_time_span       = kf_vote["max_time_span"]      .as<double>();
-        params->max_buff_length     = kf_vote["max_buff_length"]    .as<SizeEigen>();
-        params->dist_traveled       = kf_vote["dist_traveled"]      .as<double>();
-        params->angle_turned        = kf_vote["angle_turned"]       .as<double>();
-        params->voting_active       = kf_vote["voting_active"]      .as<bool>();
+        YAML::Node kf_vote      = config["keyframe_vote"];
+        params->max_time_span   = kf_vote["max_time_span"].as<double>();
+        params->max_buff_length = kf_vote["max_buff_length"].as<SizeEigen>();
+        params->dist_traveled   = kf_vote["dist_traveled"].as<double>();
+        params->angle_turned    = kf_vote["angle_turned"].as<double>();
+        params->voting_active   = kf_vote["voting_active"].as<bool>();
+
+        YAML::Node bootstrap     = config["bootstrap"];
+        params->bootstrap_enable = bootstrap["enable"].as<bool>();
+        if (params->bootstrap_enable)
+        {
+            string str = bootstrap["method"].as<string>();
+            std::transform(str.begin(), str.end(), str.begin(), ::toupper);
+            if (str == "STATIC" /**/)
+            {
+                params->bootstrap_method           = ParamsProcessorImu::BootstrapMethod::BOOTSTRAP_STATIC;
+                params->bootstrap_averaging_length = bootstrap["averaging_length"].as<int>();
+            }
+            if (str == "G" /*     */)
+            {
+                params->bootstrap_method           = ParamsProcessorImu::BootstrapMethod::BOOTSTRAP_G;
+                params->bootstrap_averaging_length = bootstrap["averaging_length"].as<int>();
+            }
+            if (str == "V0_G" /*  */)
+            {
+                params->bootstrap_method = ParamsProcessorImu::BootstrapMethod::BOOTSTRAP_V0_G;
+            }
+        }
+
         return params;
     }