Trajectory Planning

-The code is intended to save the captured images and the camera velocity to validate the SfM approach.

-The ZigZag trajectory was chosen to ensure the observability of the estimation scheme.

-The video can be found here :

https://www.youtube.com/watch?v=fYti40h7yp0

-Since it is not possible to modify the onboard controller of the Bebop. The lowest level control of the Bebop is velocity control through the cmd_vel topic, thats why P controller was applied on the position error and sent through cmd_vel topic.