This repository is for the project of Udacity Nanodegree - Self-driving Car Engineer : Extended Kalman Filter Proejct. It is forked from https://github.com/udacity/CarND-Extended-Kalman-Filter-Project).

The goals / steps of this project are the following:

• Understand how EKF(Extended Kalman Filter) works in object detection
• Implement EKF in C++

I used Bash on Windows 10 for code complie.

• C++ compile dependency / run install-ubuntu.sh

sudo apt-get update
sudo apt-get install git libuv1-dev libssl-dev gcc g++ cmake make
git clone https://github.com/uWebSockets/uWebSockets 
cd uWebSockets
git checkout e94b6e1
mkdir build
cd build
cmake ..
make 
sudo make install
cd ../..
sudo ln -s /usr/lib64/libuWS.so /usr/lib/libuWS.so
sudo rm -r uWebSockets

• code compile

cd CarND-Extended-Kalman-Filter-Project
cd build
cmake ..
make
./ExtendedKF

• main.cpp - communicates with the Simulator receiving data measurements, calls a function to run the Kalman filter, calls a function to calculate RMSE
• FusionEKF.cpp - initializes the filter, calls the predict function, calls the update function
• kalman_filter.cpp - defines the predict function, the update function for lidar, and the update function for radar
• tools.cpp - function to calculate RMSE, the Jacobian matrix and value correction for radar.