pervised_loss</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">image</span><span class="p">,</span> <span class="n">ref_images</span><span class="p">,</span> <span class="n">inv_depths</span><span class="p">,</span> <span class="n">poses</span><span class="p">,</span>
                             <span class="n">intrinsics</span><span class="p">,</span> <span class="n">return_logs</span><span class="o">=</span><span class="kc">False</span><span class="p">,</