\begin{equation}
   { \mathcal{L} = \mathcal{L}_{depth} + \mathcal{\lambda}_{ce} \mathcal{L}_{ce} + \mathcal{\lambda}_{sem} \mathcal{L}_{\text{sem}}+ \mathcal{\lambda}_{geo} \mathcal{L}_{\text{geo}} . }
\end{equation}
