diff --git a/include/tkDNN/ImuOdom.h b/include/tkDNN/ImuOdom.h
index 9dedaf9..856407d 100644
--- a/include/tkDNN/ImuOdom.h
+++ b/include/tkDNN/ImuOdom.h
@@ -35,7 +35,8 @@ class ImuOdom {
         // output eigen CPU
         Eigen::MatrixXf deltaP, deltaQ;
 
-        Eigen::MatrixXd odomPOS, odomROT;
+        Eigen::MatrixXd odomPOS, odomEULER;
+        Eigen::Matrix3d odomROT;
         Eigen::Isometry3f tf = Eigen::Isometry3f::Identity();
 
         ImuOdom() {}
@@ -109,7 +110,7 @@ class ImuOdom {
 
             odomPOS = Eigen::MatrixXd::Zero(3, 1); 
             odomROT = Eigen::MatrixXd::Identity(3, 3);
-
+            odomEULER = Eigen::MatrixXd::Zero(3, 1); 
             return true;
         }
 
@@ -132,8 +133,18 @@ class ImuOdom {
             q.x() = deltaQ(1);
             q.y() = deltaQ(2);
             q.z() = deltaQ(3);    
-            odomPOS = odomPOS + odomROT*deltaP.cast<double>();
+            odomPOS = odomPOS + deltaP.cast<double>();
             odomROT = odomROT * q.normalized().toRotationMatrix();
+            
+            // compute euler
+            auto newEULER = odomROT.eulerAngles(0, 1, 2);
+            for(int i=0; i<3; i++) {
+                while( fabs(newEULER(i) - odomEULER(i)) > M_PI_2 )  {
+                    newEULER(i) += newEULER(i) - odomEULER(i) > 0 ? -M_PI : +M_PI;
+                    //std::cout<<newEULER(i)<<" "<<odomEULER(i)<<"\n";
+                }
+            }
+            odomEULER = newEULER;
 
             // compose tf
             tf.matrix().block(0, 0, 3, 3) = odomROT.cast<float>();
diff --git a/tests/imuodom/imuodom.cpp b/tests/imuodom/imuodom.cpp
index 9682f15..723611b 100644
--- a/tests/imuodom/imuodom.cpp
+++ b/tests/imuodom/imuodom.cpp
@@ -7,18 +7,6 @@ const char *i2_bin   = "imuodom/layers/input2.bin";
 const char *o0_bin   = "imuodom/layers/output0.bin";
 const char *o1_bin   = "imuodom/layers/output1.bin";
 
-const char *c0_bin = "imuodom/layers/conv1d_7.bin";
-const char *c1_bin = "imuodom/layers/conv1d_8.bin";
-const char *c2_bin = "imuodom/layers/conv1d_9.bin";
-const char *c3_bin = "imuodom/layers/conv1d_10.bin";
-const char *c4_bin = "imuodom/layers/conv1d_11.bin";
-const char *c5_bin = "imuodom/layers/conv1d_12.bin";
-const char *l0_bin = "imuodom/layers/bidirectional_3.bin";
-const char *l1_bin = "imuodom/layers/bidirectional_4.bin";
-const char *d0_bin = "imuodom/layers/dense_3.bin";
-const char *d1_bin = "imuodom/layers/dense_4.bin";
-
-
 int main() {
 
     downloadWeightsifDoNotExist(i0_bin, "imuodom", "https://cloud.hipert.unimore.it/s/ZAy34K5w2ixED6x/download");
@@ -26,7 +14,7 @@ int main() {
     tk::dnn::ImuOdom ImuNet;
     ImuNet.init("imuodom/layers/");
 
-    const int N = 10000; //19513;
+    const int N = 19513;
 
     // Network layout
     tk::dnn::dataDim_t dim0(1, 4, 1, 100);
@@ -60,7 +48,9 @@ int main() {
         //TIMER_STOP
 
         // log path
-        path<<ImuNet.odomPOS(0)<<" "<<ImuNet.odomPOS(1)<<" "<< ImuNet.odomPOS(2)<<"\n";
+        path<<ImuNet.odomPOS(0)<<" "<<ImuNet.odomPOS(1)<<" "<< ImuNet.odomPOS(2)<<" ";
+        path<<ImuNet.odomEULER(0)<<" "<<ImuNet.odomEULER(1)<<" "<< ImuNet.odomEULER(2)<<"\n";
+
         path.flush();
 
         // Print real test
@@ -77,6 +67,7 @@ int main() {
         out1 += ImuNet.odim1.tot();
     }
 
-    system("cat path.txt | gnuplot -p -e \"set datafile separator ' '; plot '-'\"");
+    system("cat path.txt  | cut -d\" \" -f1,2 | gnuplot -p -e \"set datafile separator ' '; plot '-'\"");
+    system("cat path.txt  | cut -d\" \" -f6   | gnuplot -p -e \"set datafile separator ' '; plot '-'\"");
     return ret_cudnn;
 }
diff --git a/tests/imuodom/infer.py b/tests/imuodom/infer.py
index 3dcf44f..ce2993c 100644
--- a/tests/imuodom/infer.py
+++ b/tests/imuodom/infer.py
@@ -16,9 +16,9 @@ def bin_write(f, data):
     bin = struct.pack(fmt, *data)
     f.write(bin)
 
-
+# USE weight_exporter to generare wgs bins
 if __name__ == '__main__':
-
+    
 
     print("DATA FORMAT: ", keras.backend.image_data_format())