mmr/tkDNN
Archived
1
0
Fork 0
Code Issues 46 Pull Requests 12 Releases 4 Activity

gnuplot imuodom

Browse Source
This commit is contained in:
Francesco Gatti
2020-04-08 16:53:35 +02:00
parent 62c8f528a4
commit c1247930c9
2 changed files with 10 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files
include/tkDNN/ImuOdom.h
+2
View File
@@ -109,6 +109,8 @@ class ImuOdom {
odomPOS = Eigen::MatrixXd::Zero(3, 1); odomPOS = Eigen::MatrixXd::Zero(3, 1);
odomROT = Eigen::MatrixXd::Identity(3, 3); odomROT = Eigen::MatrixXd::Identity(3, 3);
return true;
} }
void update(dnnType *x0, dnnType *x1, dnnType *x2) { void update(dnnType *x0, dnnType *x1, dnnType *x2) {
tests/imuodom/imuodom.cpp
+8 -6
View File
@@ -24,7 +24,7 @@ int main() {
tk::dnn::ImuOdom ImuNet; tk::dnn::ImuOdom ImuNet;
ImuNet.init("../tests/imuodom/layers/"); ImuNet.init("../tests/imuodom/layers/");
const int N = 19513; const int N = 10000; //19513;
// Network layout // Network layout
tk::dnn::dataDim_t dim0(1, 4, 1, 100); tk::dnn::dataDim_t dim0(1, 4, 1, 100);
@@ -61,11 +61,11 @@ int main() {
path.flush(); path.flush();
// Print real test // Print real test
//printCenteredTitle( (std::string(" CHECK RESULT ") + std::to_string(i) + " ").c_str() , '='); printCenteredTitle( (std::string(" CHECK RESULT ") + std::to_string(i) + " ").c_str() , '=');
//ImuNet.odim0.print(); ImuNet.odim0.print();
//checkResult(ImuNet.odim0.tot(), out0, ImuNet.o0_d); checkResult(ImuNet.odim0.tot(), out0, ImuNet.o0_d);
//ImuNet.odim1.print(); ImuNet.odim1.print();
//checkResult(ImuNet.odim0.tot(), out1, ImuNet.o1_d); checkResult(ImuNet.odim0.tot(), out1, ImuNet.o1_d);
i0_h += ImuNet.dim0.tot(); i0_h += ImuNet.dim0.tot();
i1_h += ImuNet.dim1.tot(); i1_h += ImuNet.dim1.tot();
@@ -73,5 +73,7 @@ int main() {
out0 += ImuNet.odim0.tot(); out0 += ImuNet.odim0.tot();
out1 += ImuNet.odim1.tot(); out1 += ImuNet.odim1.tot();
} }
system("cat path.txt | gnuplot -p -e \"set datafile separator ' '; plot '-'\"");
return 0; return 0;
} }