into the the planning system as a 3d map I'm visualizing you here in this we call us an echo rectangular view because it's a nice way to show the 360 but this is not actually how we use the system online okay and then here's one more way of viewing like a single instance in time here it's a it's a point cloud view that is the kind of colored by the pixels themselves this guy appear that's the drone that's the trajectory the drone was flying and then here is the person's trajectory that makes sense and then we have you have a