JunshengFu/tracking-with-Extended-Kalman-Filter ? reverse-engineered prompt

Build me a C++ project that tracks a moving object using an Extended Kalman Filter and fuses both lidar and radar measurements. I want it to read the sample sensor data from the repo, estimate the object’s position and velocity over time, and compare the estimate against the ground truth so it can show the error in RMSE. Please make it work for both lidar only, radar only, and combined sensor input, with the combined mode giving the smoothest result. Use a simple command line app that I can compile with CMake and run on the provided test files, and write the output estimates to a text file. Keep the code clean and readable, and follow common C++ style. If anything is unclear, check the existing docs or look up current Eigen or CMake details online if you need to.