constraints it is it's too noisy but I'm use have biases and estimating them correctly is is key to being able to effectively use them and then we have the poses of the cameras on the vehicle so we you know obviously have CAD of the of the lenses and they get calibrated Factory time and we take that and we put that into our model of you know how we're gonna go from things in the image in 2d to 3d and the problem is those move around so every vehicle is a little bit different just because the physical characteristics so they get calibrated