in this case they're their sparse features just tracked over time in one camera and the right is the estimated trajectory of the robot so I I think you've guys have gone through kind of a traditional slam pipeline is that right in this class sort of maybe ok well anyway it's yes so so what you get is a bunch of 2d observations in your camera images by tracking in your images and you can track either between cameras at a single time instant or you can track over time and really you want to kind of do both and there's different