My implementation for CarND UKF project (Term2-P2).
std_a_ = 0.9;
std_yawdd_ = 0.55;
P_ = MatrixXd::Identity(n_x_, n_x_);Under Ubuntu 16.04 LTS with gcc/g++ >= v5.4.
mkdir build && cd build
cmake .. && make -j3
The output results all satisfy the rubrics.
./UnscentedKF ../data/obj_pose-laser-radar-synthetic-input.txt ../output.txt
RMSE
0.0649021
0.0828896
0.330927
0.212981
./UnscentedKF ../data/sample-laser-radar-measurement-data-1.txt ../data/output1.txt
RMSE
0.0771659
0.0847319
0.598939
0.583213
./UnscentedKF ../data/sample-laser-radar-measurement-data-2.txt ../data/output2.txt
RMSE
0.192247
0.190768
0.412487
0.491183