def METHOD_NAME(self):
    """Evaluate residual using pose and point as state variables"""
    graph = gtsam.NonlinearFactorGraph()
    state = gtsam.Values()
    measured = self.img_point
    noise_model = gtsam.noiseModel.Isotropic.Sigma(2, 1)
    pose_key, point_key = P(0), L(0)
    k = self.stereographic
    state.insert_pose3(pose_key, gtsam.Pose3())
    state.insert_point3(point_key, self.obj_point)
    factor = gtsam.GenericProjectionFactorCal3Unified(measured, noise_model, pose_key, point_key, k)
    graph.add(factor)
    score = graph.error(state)
    self.assertAlmostEqual(score, 0)