We present the evolution of the rest-frame optical luminosity density, of the integrated rest-frame optical color, and of the stellar mass density for a sample of Ks-band selected galaxies in the HDF-S. We derived the luminosity density in the rest-frame U, B, and V-bands and found that the luminosity density increases by a factor of 1.9+-0.4, 2.9+-0.6, and 4.9+-1.0 in the V, B, and U rest-frame bands respectively between a redshift of 0.1 and 3.2. We derived the luminosity weighted mean cosmic (U-B)_rest and (B-V)_rest colors as a function of redshift. The colors bluen almost monotonically with increasing redshift; at z=0.1, the (U-B)_rest and (B-V)_rest colors are 0.16 and 0.75 respectively, while at z=2.8 they are -0.39 and 0.29 respectively. We derived the luminosity weighted mean M/LV using the correlation between (U-V)_rest and log_{10} M/LV which exists for a range in smooth SFHs and moderate extinctions. We have shown that the mean of individual M/LV estimates can overpredict the true value by ~70% while our method overpredicts the true values by only ~35%. We find that the universe at z~3 had ~10 times lower stellar mass density than it does today in galaxies with LV>1.4 times 10^{10} h_{70}^-2 Lsol. 50% of the stellar mass of the universe was formed by $z~1-1.5. The rate of increase in the stellar mass density with decreasing redshift is similar to but above that for independent estimates from the HDF-N, but is slightly less than that predicted by the integral of the SFR(z) curve.
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