From 55658948d651b6b523678d90f905ae3187794e36 Mon Sep 17 00:00:00 2001
From: Michel Breyer <10465414+mbreyer@users.noreply.github.com>
Date: Mon, 6 Dec 2021 10:06:53 +0100
Subject: [PATCH] Precompile raycast fn

---
 src/active_grasp/nbv.py | 21 +++++++++++++++++++++
 1 file changed, 21 insertions(+)

diff --git a/src/active_grasp/nbv.py b/src/active_grasp/nbv.py
index d062d2e..443db27 100644
--- a/src/active_grasp/nbv.py
+++ b/src/active_grasp/nbv.py
@@ -56,10 +56,31 @@ def raycast(
 class NextBestView(MultiViewPolicy):
     def __init__(self):
         super().__init__()
+        self.compile()
         self.min_z_dist = rospy.get_param("~camera/min_z_dist")
         self.max_views = rospy.get_param("nbv_grasp/max_views")
         self.min_gain = rospy.get_param("nbv_grasp/min_gain")
 
+    def compile(self):
+        # Trigger the JIT compilation
+        raycast(
+            1.0,
+            np.zeros((40, 40, 40), dtype=np.float32),
+            np.eye(3),
+            np.zeros(3),
+            1.0,
+            1.0,
+            1.0,
+            1.0,
+            0,
+            1,
+            0,
+            1,
+            0.0,
+            1.0,
+            0.1,
+        )
+
     def activate(self, bbox, view_sphere):
         super().activate(bbox, view_sphere)