,W]</span>
<span class="sd">            Reference images from context</span>
<span class="sd">        inv_depths : torch.Tensor [B,1,H,W]</span>
<span class="sd">            Predicted inverse depth maps from the original image</span>
<span class="sd">        poses : list of Pose</span>
<span class="sd">            List containing predicted poses between original and context images</span>
<span class="sd">        intrinsics : torch.Tensor [B,3,3]</span>
<span class="sd">            Camera intrinsics</span>
<