><span class="bp">self</span><span class="p">,</span> <span class="n">batch</span><span class="p">):</span>
        <span class="sd">&quot;&quot;&quot;Evaluate batch to produce depth metrics.&quot;&quot;&quot;</span>
        <span class="c1"># Get predicted depth</span>
        <span class="n">inv_depths</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">model</span><span class="p">(</span><span class="n">batch</span><span class="p">)[</span><span class="s1">