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
- On windows, you may need to run:
cmake .. -G "Unix Makefiles" && make
- On windows, you may need to run:
- 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.
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.
Note: regardless of the changes you make, your project must be buildable using cmake and make!
More information is only accessible by people who are already enrolled in Term 2 of CarND. If you are enrolled, see the project page for instructions and the project rubric.
- You don't have to follow this directory structure, but if you do, your work will span all of the .cpp files here. Keep an eye out for TODOs.
Visual Studio Code is used for this project. For more infomraiton on the IDE Profile, see the \id_profiles
directory.
After compiling and running the ExtendedKF utility on the ../data/sample-laser-radar-measurement-data-1.txt
file, the RMSE results are as follows:
RMSE | Result |
---|---|
px | 0.0651795 |
py | 0.0605726 |
vx | 0.544212 |
vy | 0.544226 |
After running the ExtendedKF utility on the ../data/sample-laser-radar-measurement-data-2.txt
file, the RMSE results are as follows:
RMSE | Result |
---|---|
px | 0.183608 |
py | 0.190305 |
vx | 0.499585 |
vy | 0.805314 |
Note: The above visualizations were generated using the CarND-Mercedes-SF-Utilities in the
\utils
directory.