About pose parameter update

[SYSUGrain]

It seems that the Lie algebra updates directly by optimizer_pose, right? Have u tried to update it based on Lie Algebra Derivation or Perturbation Model?

[ziruiw-dev]

Yes, we update lie algebra directly. We assume forward-facing scenes as input so the rotation between identity and a true rotation of a camera is not very far. We didn't try the perturbation/derivation model for the same reason.