problem is that the ability of estimating depth or really doing odometry from things that distance it depends on the inverse range of the the object you're looking at and so as you get that far out you're really looking for fractional differences between a fractional differences of a pixel between multiple images and that makes you that makes it so that you have to be very careful about your calibration the yes so so we we calibrate the poses of the cameras and particular it's mostly about the rotation like the actual