When I used the Fine Pose Estimation of your code, I found that when the initial value of log_quaternion was set to [0., 0., 0.], the gradient value of log_quaternion would always be 0. In turn, the rotation parameters cannot be optimized. This may be caused by a change in the rotation parameters in Camera.
When I used the
Fine Pose Estimationof your code, I found that when the initial value oflog_quaternionwas set to[0., 0., 0.], the gradient value oflog_quaternionwould always be 0. In turn, the rotation parameters cannot be optimized. This may be caused by a change in the rotation parameters inCamera.