Self-Driving Car Engineer Nanodegree Program
- cmake >= 3.5
- All OSes: click here for installation instructions
- make >= 4.1
- Linux: make is installed by default on most Linux distros
- Mac: install Xcode command line tools to get make
- Windows: Click here for installation instructions
- gcc/g++ >= 5.4
- Linux: gcc / g++ is installed by default on most Linux distros
- Mac: same deal as make - [install Xcode command line tools]((https://developer.apple.com/xcode/features/)
- Windows: recommend using MinGW
- Clone this repo.
- Make a build directory:
mkdir build && cd build
- Compile:
cmake .. && make
- Run it:
./ExtendedKF path/to/input.txt path/to/output.txt
. You can find some sample inputs in 'data/'.- eg.
./ExtendedKF ../data/sample-laser-radar-measurement-data-1.txt output.txt
- eg.
If you use CLion IDE then it will create a cmake-build-debug
directory - this is where it puts all output.
We've purposefully kept editor configuration files out of this repo in order to keep it as simple and environment agnostic as possible. However, we recommend using the following settings:
- indent using spaces
- set tab width to 2 spaces (keeps the matrices in source code aligned)
Please (do your best to) stick to Google's C++ style guide.
This is optional!
If you'd like to generate your own radar and lidar data, see the utilities repo for Matlab scripts that can generate additional data.
You can visualise the data which the filter writes to the output.txt file with the Jupyter Notebook file: ekf-visualization.ipynb
.
Just point it to your output.txt file after running the filter.