Add SphericalCamera Python bindings#2446
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dellaert merged 3 commits intoborglab:developfrom Mar 5, 2026
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Nice !!!
I'm not sure we need the traits mechanism though. Unit3 is a 2D manifold and it has a Local method in its traits already. And the local method for Point2 is just subtraction. And because the dimension of Unit3 is also 2, there is also no need for dim Z.
…ementErrorHelper Remove the MeasurementErrorHelper traits mechanism and MeasurementTraits.h. Unit3 is a 2D manifold just like Point2, so traits<Measurement>::Local works directly for both types without needing a specialized errorVector path. https://claude.ai/code/session_01NGPWjL8oTZqkvqup7RxDMf
Simplify Unit3 measurement error: use traits::Local instead of Measur…
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Hi, you are right. The updated version works fine, could you review again? This is the result with my gtsfm. 
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This looks more like it! Love it :-)
I’ll run CI to see if it compiles across platforms, then approve.
Thanks !!
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All required CI passed, so I’ll merge. Thank you again.
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Hi, I'm not familiar with the project's contribution guidelines or conventions, so please let me know if there's anything I should change regarding code style, naming, testing, or the overall approach. Any feedback is welcome.
I have been working on enabling Structure-from-Motion (SfM) for 360-degree (omnidirectional) cameras using GTSAM and https://github.com/inuex35/gtsfm. With the SphericalCamera Python bindings added in this PR, combined with improvements we have made on the GTSFM side, it is now possible to run a full SfM pipeline for 360-degree cameras — from bearing-vector
measurements through to bundle adjustment — entirely in Python.