Extended Kalman Filter Project Starter Code
Self-Driving Car Engineer Nanodegree Program
- cmake >= 3.5
- All OSes: click here for installation instructions
- make >= 4.1
- gcc/g++ >= 5.4
Basic Build Instructions
- Clone this repo.
- Make a build directory:
mkdir build && cd build
cmake .. && make
- Run it:
./ExtendedKF path/to/input.txt path/to/output.txt. You can find some sample inputs in 'data/'.
./ExtendedKF ../data/sample-laser-radar-measurement-data-1.txt output.txt
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.
Generating Additional Data
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.
Project Instructions and Rubric
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.
Call for IDE Profiles Pull Requests
Help your fellow students!
We decided to create Makefiles with cmake to keep this project as platform agnostic as possible. Similarly, we omitted IDE profiles in order to we ensure that students don't feel pressured to use one IDE or another.
However! I'd love to help people get up and running with their IDEs of choice. If you've created a profile for an IDE that you think other students would appreciate, we'd love to have you add the requisite profile files and instructions to ide_profiles/. For example if you wanted to add a VS Code profile, you'd add:
The README should explain what the profile does, how to take advantage of it, and how to install it.
Frankly, I've never been involved in a project with multiple IDE profiles before. I believe the best way to handle this would be to keep them out of the repo root to avoid clutter. My expectation is that most profiles will include instructions to copy files to a new location to get picked up by the IDE, but that's just a guess.
One last note here: regardless of the IDE used, every submitted project must still be compilable with cmake and make.