 class="n">model</span><span class="o">.</span><span class="n">optimizer</span><span class="o">.</span><span class="n">depth</span><span class="p">)</span>
            <span class="p">})</span>
        <span class="c1"># Pose optimizer</span>
        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">pose_net</span> <span class="ow">is</span> <span class="ow">not</span> <span class="kc">None</span><span class="p">:</span>
            <span class="n">params</span><s