Is reinitializePoses in prepareForOptimization necessary?

[JzHuai0108]

reinitializePoses reinitializes poses that are not in the old double window but are in the new double window. Since old poses tend to be more reliable, do we really need to reinitialize these poses entering the double window?

[JzHuai0108]

Based on my tests with New college dataset, the results are almost identical whether reinitializePoses is commented or not.