This is a C++ implementation of an Unscented Kalman Filter. It is used to perform sensor fusion in two dimensional space to track an object. Data in the form of radar measurements and ladar measurements is read in as a simulated car is driven.
This project involves the Term 2 Simulator which can be downloaded here
This repository includes two files that can be used to set up and install uWebSocketIO for either Linux or Mac systems. For windows you can use either Docker, VMware, or even Windows 10 Bash on Ubuntu to install uWebSocketIO.
Once the install for uWebSocketIO is complete, the main program can be built and run by doing the following from the project top directory.
- mkdir build
- cd build
- cmake ..
- make
- ./UnscentedKF
- 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
- Windows: recommend using MinGW