 class="p">],</span>
                <span class="n">output</span><span class="p">[</span><span class="s1">&#39;inv_depths&#39;</span><span class="p">],</span> <span class="n">output</span><span class="p">[</span><span class="s1">&#39;poses&#39;</span><span class="p">],</span> <span class="n">batch</span><span class="p">[</span><span class="s1">&#39;intrinsics&#39;</span><span class="p">],</span>
                <span class="n">return_logs</span><span class="o">=</span><span class="n">return_logs</span><spa