Open eshafeeqe opened 6 years ago
This is the biggest outstanding issue with Opt, the simple workaround is to do the trick you did for the chain size, and just compile the largest size and use dummy vars, but hopefully we will support dynamic dimensions in the near future. Also, I will take a look at the compilation time itself, since 16s is longer than it seems like it needs to be.
Couldn't you pass the bone index for each point and store the skeleton chain per bone?
Dear Opt,
I tried to implement Kinematic ICP with Opt, as you may aware that Kinematic graph have uneven graph lengths for different paths. So I implemented an even graph by putting dummy variables and made weights zero for those dummy variables. as shown below.
The good thing is it worked fine, but I have two problems now 1) It took about 16 seconds for problem plan completion since I have a variable point cloud at each iteration I need to resize dims at each iteration. 2) I have to pass skeleton chain for each point in the point cloud externally since the skeleton chain for each bone is fixed and is there any alternative for this?