to and the basically the bottom one here is the ground truth of that data set which is a lidar scan and in the middle is a as a prediction of our of our network and so it it worked really well in in these scenes I'm not going to go into details here but essentially the the network was structured in a way to take advantage of sort of intuition about stereo matching and classical stare matching algorithms where we have we compute shared learned weights on each of the two images with two towers and then we have a cost volume approach