Francesco Gatti
79 lines
2.5 KiB
C++
79 lines
2.5 KiB
C++
#include<iostream>
|
|
#include "tkDNN/ImuOdom.h"
|
|
|
|
const char *i0_bin = "imuodom/layers/input0.bin";
|
|
const char *i1_bin = "imuodom/layers/input1.bin";
|
|
const char *i2_bin = "imuodom/layers/input2.bin";
|
|
const char *o0_bin = "imuodom/layers/output0.bin";
|
|
const char *o1_bin = "imuodom/layers/output1.bin";
|
|
|
|
int main() {
|
|
|
|
// 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;
|
|
ImuNet.init("imuodom/layers/");
|
|
|
|
const int N = 19513;
|
|
|
|
// Network layout
|
|
tk::dnn::dataDim_t dim0(1, 4, 1, 100);
|
|
tk::dnn::dataDim_t dim1(1, 3, 1, 100);
|
|
tk::dnn::dataDim_t dim2(1, 3, 1, 100);
|
|
|
|
// Load input
|
|
dnnType *i0_d, *i1_d, *i2_d;
|
|
dnnType *i0_h, *i1_h, *i2_h;
|
|
readBinaryFile(i0_bin, dim0.tot()*N, &i0_h, &i0_d);
|
|
readBinaryFile(i1_bin, dim1.tot()*N, &i1_h, &i1_d);
|
|
readBinaryFile(i2_bin, dim2.tot()*N, &i2_h, &i2_d);
|
|
|
|
dnnType *data;
|
|
tk::dnn::dataDim_t dim;
|
|
|
|
dnnType *out0, *out1;
|
|
dnnType *out0_h, *out1_h;
|
|
readBinaryFile(o0_bin, ImuNet.odim0.tot()*N, &out0_h, &out0);
|
|
readBinaryFile(o1_bin, ImuNet.odim1.tot()*N, &out1_h, &out1);
|
|
|
|
|
|
std::ofstream path("path.txt");
|
|
|
|
int ret_cudnn = 0;
|
|
for(int i=0; i<N; i++) {
|
|
std::cout<<"i: "<<i<<"\n";
|
|
//TIMER_START
|
|
// Inference
|
|
ImuNet.update(i0_h, i1_h, i2_h);
|
|
//TIMER_STOP
|
|
|
|
// log path
|
|
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
|
|
printCenteredTitle( (std::string(" CHECK RESULT ") + std::to_string(i) + " ").c_str() , '=');
|
|
ImuNet.odim0.print();
|
|
ret_cudnn |= checkResult(ImuNet.odim0.tot(), out0, ImuNet.o0_d) == 0 ? 0 : ERROR_CUDNN;
|
|
ImuNet.odim1.print();
|
|
ret_cudnn |= checkResult(ImuNet.odim0.tot(), out1, ImuNet.o1_d) == 0 ? 0 : ERROR_CUDNN;
|
|
|
|
i0_h += ImuNet.dim0.tot();
|
|
i1_h += ImuNet.dim1.tot();
|
|
i2_h += ImuNet.dim2.tot();
|
|
out0 += ImuNet.odim0.tot();
|
|
out1 += ImuNet.odim1.tot();
|
|
}
|
|
|
|
int err = 0;
|
|
err = system("cat path.txt | cut -d\" \" -f1,2 | gnuplot -p -e \"set datafile separator ' '; plot '-'\"");
|
|
err = system("cat path.txt | cut -d\" \" -f6 | gnuplot -p -e \"set datafile separator ' '; plot '-'\"");
|
|
return ret_cudnn;
|
|
}
|