I am trying to use the IKSolver for a real-time application. The problem I am having is that I initialize MarkersReference when the first frame is received which causes the second frame to be out of the time range for obvious reasons. I wanted to know if there is a way to potentially update markers reference to the new frame and then be able to update time and track the state. I saw it has been done by another group that assembled ques of data which avoids the time range issue but this doesn't seem to be necessary. I would think that just by keeping track of a previous state we could compute IK for the new frame without having to reinitialize the solver.
I would really appreciate any suggestions
Thank you!