surfel index image being built at wrong time?

[erikfrey]

Hi there - in ITMBasicSurfelEngine.tpp the surfel engine seems to perform roughly these three steps:

1. Perform pose tracking
2. Fuse view into scene
3. Render a new index image of the scene.

This is a little different from the paper, which renders the index image before fusion, not after. In the Infinitam implementation, searching the index image during fusion seems incorrect, because the index image is generated from the old view pose, not the current view pose. Am I missing something?