temperature sweep of a fixed lens and you can actually see sort of these circles are fixed but you can see how much it moves is actually set pixels of motion there over the change and those are the like intrinsic lens parameters and the distortion model of the camera and so to really handle this we also estimate these online with everything else which is a cool and a hard problem and then of course we have propeller spinning so we've got to estimate the rates of those propellers and then we have the gimbal and we