mmr/tkDNN
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Merge branch 'master' into cnet

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Francesco Gatti
2020-04-09 00:57:43 +02:00
parent 18aff44c99 4c5899eae7
commit 2389df8626
3 changed files with 11 additions and 7 deletions
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CMakeLists.txt
+1 -1
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@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.5)
project (tkDNN)
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -fPIC")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -fPIC -Wno-deprecated-declarations -Wno-unused-variable")
include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include/tkDNN)
# project specific flags
include/tkDNN/ImuOdom.h
+2
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@@ -109,6 +109,8 @@ class ImuOdom {
odomPOS = Eigen::MatrixXd::Zero(3, 1);
odomROT = Eigen::MatrixXd::Identity(3, 3);
return true;
}
void update(dnnType *x0, dnnType *x1, dnnType *x2) {
tests/imuodom/imuodom.cpp
+8 -6
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@@ -26,7 +26,7 @@ int main() {
tk::dnn::ImuOdom ImuNet;
ImuNet.init("../tests/imuodom/layers/");
const int N = 19513;
const int N = 10000; //19513;
// Network layout
tk::dnn::dataDim_t dim0(1, 4, 1, 100);
@@ -63,11 +63,11 @@ int main() {
path.flush();
// Print real test
//printCenteredTitle( (std::string(" CHECK RESULT ") + std::to_string(i) + " ").c_str() , '=');
//ImuNet.odim0.print();
//checkResult(ImuNet.odim0.tot(), out0, ImuNet.o0_d);
//ImuNet.odim1.print();
//checkResult(ImuNet.odim0.tot(), out1, ImuNet.o1_d);
printCenteredTitle( (std::string(" CHECK RESULT ") + std::to_string(i) + " ").c_str() , '=');
ImuNet.odim0.print();
checkResult(ImuNet.odim0.tot(), out0, ImuNet.o0_d);
ImuNet.odim1.print();
checkResult(ImuNet.odim0.tot(), out1, ImuNet.o1_d);
i0_h += ImuNet.dim0.tot();
i1_h += ImuNet.dim1.tot();
@@ -75,5 +75,7 @@ int main() {
out0 += ImuNet.odim0.tot();
out1 += ImuNet.odim1.tot();
}
system("cat path.txt | gnuplot -p -e \"set datafile separator ' '; plot '-'\"");
return 0;
}