be flying really like really in any nook or cranny of any building or while and and you really can't tell what's in a lot of the camera images and there's just no there's no good monocular prior a lot of the time because you could just be in inside some random geometric shape in a sculpture and art gallery or something and so it's it's a much harder problem for that and and specifically the the metrics on a dataset like kitty where you're typically measured on like how how accurate is like the average pixel error across the image right like