mmr/tkDNN
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filter yaw ok

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This commit is contained in:
Francesco Gatti
2020-05-03 19:12:10 +02:00
parent 3fcb05be64
commit 54074780cf
2 changed files with 7 additions and 2 deletions
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include/tkDNN/ImuOdom.h
+2 -1
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@@ -137,7 +137,8 @@ class ImuOdom {
q.x() = deltaQ(1); q.x() = deltaQ(1);
q.y() = deltaQ(2); q.y() = deltaQ(2);
q.z() = deltaQ(3); q.z() = deltaQ(3);
odomPOS = odomPOS + deltaP.cast<double>(); odomPOS = odomPOS + odomROT*deltaP.cast<double>(); // V1
//odomPOS = odomPOS + deltaP.cast<double>(); // V2
odomROT = odomROT * q.normalized().toRotationMatrix(); odomROT = odomROT * q.normalized().toRotationMatrix();
// compute euler // compute euler
tests/imuodom/imuodom.cpp
+5 -1
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@@ -9,7 +9,11 @@ const char *o1_bin = "imuodom/layers/output1.bin";
int main() { int main() {
downloadWeightsifDoNotExist(i0_bin, "imuodom", "https://cloud.hipert.unimore.it/s/BBSEbEbQbPKxp4s/download"); // V1
downloadWeightsifDoNotExist(i0_bin, "imuodom", "https://cloud.hipert.unimore.it/s/ZAy34K5w2ixED6x/download");
// V2
//downloadWeightsifDoNotExist(i0_bin, "imuodom", "https://cloud.hipert.unimore.it/s/BBSEbEbQbPKxp4s/download");
tk::dnn::ImuOdom ImuNet; tk::dnn::ImuOdom ImuNet;
ImuNet.init("imuodom/layers/"); ImuNet.init("imuodom/layers/");