About pose optimizer

[jinmaodaomaye2021]

Hi,

Thanks for your great work. I looked at your code and found the implementation uses a shared Adam optimizer for all poses in global BA.

My question is that if some poses are not selected in a global BA iteration, do they get updated in the optimizer ?

• My expectation is that if the randomly selected rays don't have pose A, pose A shouldn't be updated.
• However, the Adam optimizer may use history gradient to update all parameters even if some parameters have zero gradient.

Do you think this is a valid concern ? Thanks.