Self-Driving Car Engineer Nanodegree Program
- cmake >= v3.5
- make >= v4.1
- gcc/g++ >= v5.4
- Clone this repo.
- Make a build directory:
mkdir build && cd build
- Compile:
cmake .. && make
- Run it:
./UnscentedKF path/to/input.txt path/to/output.txt
. You can find some sample inputs in 'data/'.- eg.
./UnscentedKF ../data/obj_pose-laser-radar-synthetic-input.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 stick to Google's C++ style guide as much as possible.
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.
This 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.
After compikling and runnin the UnscentedKF binary on the ../data/obj_pose-laser-radar-synthetic-input
file, the RMSE results are as follows:
RMSE | Target | Results |
---|---|---|
px | 0.09 | 0.06417 |
py | 0.10 | 0.0832111 |
vx | 0.40 | 0.330425 |
vy | 0.30 | 0.21269 |
Note: For graphs of the results, please4 see the
img
directory.