Files
- take_picture.py
Main file. This file contains all the functions to take pictures as well as the final step in the localization (madeItHome), which turns the cozmo
back to the home. This file also contains a function which detects if cozmo has been picked up, this is then used to start MCL.
- mcl.py
This final contains the MCL function, which performs the mcl algorithm. It also contains functions to take a slice of the panorama and to compare that image
to the latest image the robot has taken. Finally this file also has a function which finds groups of particles, then uses this within the mcl algorithm;
if there is convergence then the algorithm ends, otherwise it will continue to try and localize.
- stitching.py
This file contains one function that stitches the images cozmo took together. This gives us the panorama which allows cozmo to localize.
- histogram.py
This file takes our data and turns it into a histogram which can be used to see if there is convergence of the particles.
The full code can be accessed through this
link