uot; scalar and different metrics and predictions</span>
<span class="sd">            for logging and downstream usage.</span>
<span class="sd">        &quot;&quot;&quot;</span>
        <span class="c1"># Calculate predicted depth and pose output</span>
        <span class="n">output</span> <span class="o">=</span> <span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="n">forward</span><span class="p">(</span><span class="n">batch</span><span class="p">,</span> <span clas