def METHOD_NAME(self):
    """Spatial stereographic camera projection"""
    x, y, z = self.obj_point
    u, v = self.img_point
    r = np.linalg.norm(self.obj_point)
    pose = gtsam.Pose3()
    camera = gtsam.PinholeCameraCal3Unified(pose, self.stereographic)
    pt1 = camera.Project(self.obj_point)
    self.gtsamAssertEquals(pt1, np.array([x/z, y/z]))
    pt2 = camera.project(self.obj_point)
    self.gtsamAssertEquals(pt2, self.img_point)
    obj1 = camera.backproject(self.img_point, z)
    self.gtsamAssertEquals(obj1, self.obj_point)
    r1 = camera.range(self.obj_point)
    self.assertEqual(r1, r)