translation of the cameras moving it does not have a large effect on the results it's mostly it's mostly rotations but we calibrate those things online sore joint ly with our odometry system so there there are many variables in the optimization some of which are that the pose of the robot but also the poses of the cameras and the biases the IMU and additionally we calibrate the intrinsic parameters of our lenses which is which is kind of nuts thing to do on line but those also change I'll show a video of that here so this is showing a