install Eigen (Mac)

brew install eigen3

ubuntu has installed Eigen already

Test Data Description

Input Data Format

L(for laser) meas_px meas_py timestamp gt_px gt_py gt_vx gt_vy

R(for radar) meas_rho meas_phi meas_rho_dot timestamp gt_px gt_py gt_vx gt_vy

Example

R 8.60363 0.0290616 -2.99903 1477010443399637 8.6 0.25 -3.00029 0

L 8.45 0.25 1477010443349642 8.45 0.25 -3.00027 0

Output file format:

est_px est_py est_vx est_vy meas_px meas_py gt_px gt_py gt_vx gt_vy