{"action":"opened","issue":{"url":"https://api.github.com/repos/ethz-asl/ethzasl_msf/issues/158","repository_url":"https://api.github.com/repos/ethz-asl/ethzasl_msf","labels_url":"https://api.github.com/repos/ethz-asl/ethzasl_msf/issues/158/labels{/name}","comments_url":"https://api.github.com/repos/ethz-asl/ethzasl_msf/issues/158/comments","events_url":"https://api.github.com/repos/ethz-asl/ethzasl_msf/issues/158/events","html_url":"https://github.com/ethz-asl/ethzasl_msf/issues/158","id":212765132,"number":158,"title":"where/how is the fixed key-frame/reference handled in MSF? ","user":{"login":"v01d","id":161706,"avatar_url":"https://avatars0.githubusercontent.com/u/161706?v=3","gravatar_id":"","url":"https://api.github.com/users/v01d","html_url":"https://github.com/v01d","followers_url":"https://api.github.com/users/v01d/followers","following_url":"https://api.github.com/users/v01d/following{/other_user}","gists_url":"https://api.github.com/users/v01d/gists{/gist_id}","starred_url":"https://api.github.com/users/v01d/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/v01d/subscriptions","organizations_url":"https://api.github.com/users/v01d/orgs","repos_url":"https://api.github.com/users/v01d/repos","events_url":"https://api.github.com/users/v01d/events{/privacy}","received_events_url":"https://api.github.com/users/v01d/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":0,"created_at":"2017-03-08T15:24:58Z","updated_at":"2017-03-08T15:24:58Z","closed_at":null,"body":"The IROS2013 paper specifices how relative updates are handled for pose estimates coming from SLAM. However, I can't find where/how this is handled in the code. I was expecting ptam to publish the pose of the reference (fixed) key-frame as well as the current pose, however I did not find that either. "}}
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