Extended Kalman Filter Project

In this project a Kalman Kilter is used to estimate the state of a moving object of interest with noisy lidar and radar measurements. RMSE values are lower than a specified tolerance.

1. mkdir build
2. cd build
3. cmake ..
4. make
5. ./ExtendedKF

INPUT: values provided by the simulator to the c++ program

["sensor_measurement"] => the measurement that the simulator observed (either lidar or radar)

OUTPUT: values provided by the c++ program to the simulator

["estimate_x"] <= kalman filter estimated position x ["estimate_y"] <= kalman filter estimated position y ["rmse_x"] ["rmse_y"] ["rmse_vx"] ["rmse_vy"]

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Other Important Dependencies

• cmake >= 3.5
  • All OSes: click here for installation instructions
• make >= 4.1 (Linux, Mac), 3.81 (Windows)
  • Linux: make is installed by default on most Linux distros
• 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
  • Windows: recommend using MinGW

Basic Build Instructions

1. Clone this repo.
2. Make a build directory: mkdir build && cd build
3. Compile: cmake .. && make
   • On windows, you may need to run: cmake .. -G "Unix Makefiles" && make
4. Run it: ./ExtendedKF

Installing and Using Eigen in Your Project

System-Wide Installation on Ubuntu 22.04

1. Update package list:

   sudo apt update
   

2. Install Eigen3:

   sudo apt install libeigen3-dev
   

3. Verify installation:

   pkg-config --modversion eigen3
   

Eigen headers are installed in /usr/include/eigen3/.

Using Eigen in Your Project

1. Include Eigen headers in your C++ files:

   #include <Eigen/Dense>

2. When compiling, add this flag:

   -I/usr/include/eigen3
   

3. If using CMake, add to your CMakeLists.txt:

   find_package(Eigen3 3.3 REQUIRED NO_MODULE)
   target_link_libraries(your_target_name Eigen3::Eigen)

After following these steps, Eigen will be available system-wide, eliminating the need to include it in your source directory.

Updating Your Current CMakeLists.txt

To integrate Eigen into your existing project, update your CMakeLists.txt: