{"action":"created","issue":{"url":"https://api.github.com/repos/erik-nelson/berkeley_sfm/issues/4","labels_url":"https://api.github.com/repos/erik-nelson/berkeley_sfm/issues/4/labels{/name}","comments_url":"https://api.github.com/repos/erik-nelson/berkeley_sfm/issues/4/comments","events_url":"https://api.github.com/repos/erik-nelson/berkeley_sfm/issues/4/events","html_url":"https://github.com/erik-nelson/berkeley_sfm/issues/4","id":112887533,"number":4,"title":"g2o","user":{"login":"dfridovi","id":10186725,"avatar_url":"https://avatars.githubusercontent.com/u/10186725?v=3","gravatar_id":"","url":"https://api.github.com/users/dfridovi","html_url":"https://github.com/dfridovi","followers_url":"https://api.github.com/users/dfridovi/followers","following_url":"https://api.github.com/users/dfridovi/following{/other_user}","gists_url":"https://api.github.com/users/dfridovi/gists{/gist_id}","starred_url":"https://api.github.com/users/dfridovi/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/dfridovi/subscriptions","organizations_url":"https://api.github.com/users/dfridovi/orgs","repos_url":"https://api.github.com/users/dfridovi/repos","events_url":"https://api.github.com/users/dfridovi/events{/privacy}","received_events_url":"https://api.github.com/users/dfridovi/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":1,"created_at":"2015-10-22T20:43:22Z","updated_at":"2015-10-22T20:57:49Z","closed_at":null,"body":"Next big step: Implement multi-frame, multi-point bundle adjustment in the g2o framework."},"comment":{"url":"https://api.github.com/repos/erik-nelson/berkeley_sfm/issues/comments/150354247","html_url":"https://github.com/erik-nelson/berkeley_sfm/issues/4#issuecomment-150354247","issue_url":"https://api.github.com/repos/erik-nelson/berkeley_sfm/issues/4","id":150354247,"user":{"login":"erik-nelson","id":2200159,"avatar_url":"https://avatars.githubusercontent.com/u/2200159?v=3","gravatar_id":"","url":"https://api.github.com/users/erik-nelson","html_url":"https://github.com/erik-nelson","followers_url":"https://api.github.com/users/erik-nelson/followers","following_url":"https://api.github.com/users/erik-nelson/following{/other_user}","gists_url":"https://api.github.com/users/erik-nelson/gists{/gist_id}","starred_url":"https://api.github.com/users/erik-nelson/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/erik-nelson/subscriptions","organizations_url":"https://api.github.com/users/erik-nelson/orgs","repos_url":"https://api.github.com/users/erik-nelson/repos","events_url":"https://api.github.com/users/erik-nelson/events{/privacy}","received_events_url":"https://api.github.com/users/erik-nelson/received_events","type":"User","site_admin":false},"created_at":"2015-10-22T20:57:49Z","updated_at":"2015-10-22T20:57:49Z","body":"Yup. I forgot we had decided on g2o and began coding up BA using ceres. We should think a little about what problem we actually want to optimize with g2o, since we can solve vanilla BA pretty easily with ceres too."}}