Notes on running with SLAM

Requirements

• To run with SLAM please install OpenVLAM as mentioned in the build instructions
• Requires a configuration file for the camera as well as an ORB vocabulary file
• A camera configuration file (camera_config.yaml)
• Please download a sample vocabulary file and store it in the main directory

Calibrating the tello camera

• To get an accurate camera calibration file, please run the main executable (tello), built with the CMake Option RECORD set to ON
• Move a chessboard pattern (similar to the one used in OpenCV calibration examples here ) as the video is being recorded
• Run the python script util_scripts (calibrate_camera_from_video.py) with the requisite options to provide this video as input, adjusting for the pattern (number of squares etc)
• Replace the constants (k1, k2, k3, p1 and p2) with the ones obtained from the script