diff --git a/include/tkDNN/ImuOdom.h b/include/tkDNN/ImuOdom.h
index a6b449c..49e5d4d 100644
--- a/include/tkDNN/ImuOdom.h
+++ b/include/tkDNN/ImuOdom.h
@@ -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) {
diff --git a/tests/imuodom/imuodom.cpp b/tests/imuodom/imuodom.cpp
index 6a03321..981c7c3 100644
--- a/tests/imuodom/imuodom.cpp
+++ b/tests/imuodom/imuodom.cpp
@@ -24,7 +24,7 @@ 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);
@@ -61,11 +61,11 @@ 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();
@@ -73,5 +73,7 @@ int main() {
         out0 += ImuNet.odim0.tot();
         out1 += ImuNet.odim1.tot();
     }
+
+    system("cat path.txt | gnuplot -p -e \"set datafile separator ' '; plot '-'\"");
     return 0;
 }