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- ImuOdom model into class

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- Route layer input array hard copy
- fix utils
This commit is contained in:
Francesco Gatti
2020-03-09 19:44:21 +01:00
parent 443691414a
commit 406f8cc9b3
9 changed files with 202 additions and 65 deletions
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tests/imuodom/infer.py
+18 -9
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@@ -8,6 +8,7 @@ import os
import random
import struct
from keras.models import Sequential, Model
import pickle
def bin_write(f, data):
data = data.flatten()
@@ -24,15 +25,23 @@ if __name__ == '__main__':
print("Load model: ", "ferrariS1.hdf5")
model = load_model("ferrariS1.hdf5")
model.summary()
weights = model.get_weights()
np.random.seed(2)
x_angle = np.random.rand(1,100,4)
x_gyro = np.random.rand(1,100,3)
x_acc = np.random.rand(1,100,3)
indata = pickle.load(open("input.pk", 'rb'))
outdata = pickle.load(open("output.pk", 'rb'))
x_angle = indata[0]
x_gyro = indata[1]
x_acc = indata[2]
[yhat_delta_p, yhat_delta_q] = model.predict(indata, batch_size=1, verbose=1)
predictdata = [yhat_delta_p, yhat_delta_q]
error = outdata[0] - predictdata[0]
print("error delta_p: ", error.sum())
error = outdata[1] - predictdata[1]
print("error delta_q: ", error.sum())
[yhat_delta_p, yhat_delta_q] = model.predict([x_angle, x_gyro, x_acc], batch_size=1, verbose=1)
#layer_name = 'dense_4'
#intermediate_layer_model = Model(inputs=model.input,
@@ -45,9 +54,9 @@ if __name__ == '__main__':
x_acc = np.array([x_acc])
#intermediate_output = np.array([intermediate_output])
x_angle = x_angle.transpose(0, 3, 1, 2)
x_gyro = x_gyro.transpose(0, 3, 1, 2)
x_acc = x_acc.transpose(0, 3, 1, 2)
x_angle = x_angle.transpose(1, 3, 0, 2)
x_gyro = x_gyro.transpose(1, 3, 0, 2)
x_acc = x_acc.transpose(1, 3, 0, 2)
#intermediate_output = intermediate_output.transpose(0, 3, 1, 2)
#print("Aggregate:")
#print(intermediate_output.tolist())