camera pose optimization

[ZelinZhou666]

Hi thanks for your work. I have a question that since the cam_rot_delta and cam_trans_delta are in the parameters group which will be optimize, but the graidents are computed as the derivative of Loss with respect to derivative of T_CW, which T_CW is the absolute transformation from the world frame to camera frame. Isn't it should be the derivative of Loss with respect to derivative of delta_T_CW?