Why does negative optimization occur on my dataset

[Tartisan]

above is the initial effect

this is the effect after HBA
I don't know why. I also tried BALM, it's ok for this case, but the memory consumption is too high.
Looking forward for reply, thx!

[chengwei0427]

Hi， @Tartisan
There might be a bug in the write_pose function. I've submitted a PR for it, and you can take a look at it for reference.

[G4419]

@chengwei0427 Yes, you are correct. The original write_pose function set first pose to Identity pose, which is wrong.