SensorFusion-UKF
激光雷达和毫米波雷达数据融合基于无迹卡尔曼滤波算法c++工程项目
基于无迹卡尔曼滤波,改成ROS协议下的
#你需要配置ROS环境以及C++编译
Unscented Kalman Filter Project Starter Code
Self-Driving Car Engineer Nanodegree Program
Dependencies
-
cmake >= v3.5
-
make >= v4.1
-
gcc/g++ >= v5.4
Basic Build Instructions
-
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 findsome sample inputs in 'data/'.
- eg.
./UnscentedKF ../data/sample-laser-radar-measurement-data-1.txt output.txt
- eg.
Editor Settings
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)
Code Style
Please stick to Google's C++ style guide as much as possible.
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
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.