Estimators and policies catalog

Estimators consume observations and infer a model. They are not image filters and they are not necessarily Pipeline Stages. PanorAi exposes a direct estimator for independent use and a thin Stage adapter when the same computation belongs in a Pipeline.

Registered estimator and policy surfaces

Surface	Stability	Canonical import	Contract	Public components or entries
spherical-features-core	Stable	panorai.features	panorai-spherical-features/v1	DeduplicationResult, FaceSetSpec, FeatureExtractor, FeatureExtractorConfig, FeatureMatcher, FeatureMatcherConfig, FeatureProvenance, FaceDetectionDiagnostics, MatchProvenance, MultifaceDetectionDiagnostics, OpenCVFeatureBackend, SphericalBearingCorrespondences, SphericalFeature, SphericalFeatureMatches, SphericalFeaturePipeline, SphericalFeaturePipelineConfig, SphericalFeatureSet, available_presets, deduplicate_spherical_keypoints, extract_opencv_features, gnomonic_feature_mask, match_opencv_features, panorai.features.backends.OpenCVFeatureBackend
spherical-features-pycolmap	Experimental	panorai.features	panorai-spherical-features-pycolmap/v1	GnomonicRig, GnomonicRigCamera, PyCOLMAPExportResult
spherical-features-multiscale	Experimental	panorai.features	panorai-spherical-features-multiscale/v1	MultiscaleEmbeddingConfig, MultiscaleFeatureMatches, MultiscaleFeatureSet, MultiscaleSphericalFeaturePipeline, OpenCVContextEmbedding, VisualContextNode, VisualEmbeddingProvider
spherical-features-dog-sift	Experimental	panorai.features	panorai-spherical-dog-sift/v2	SphericalDoGSIFTConfig, SphericalDoGSIFTExtractor, SphericalDoGSIFTPipeline
spherical-features-dog-detector	Experimental	panorai.features	panorai-spherical-dog-detector/v2	SphericalDetectionDiagnostics, SphericalDoGDetector, SphericalDoGDetectorConfig, SphericalKeypoint, SphericalKeypointSet, SphericalOctaveDetectionDiagnostics, SphericalRefinedKeypoint
spherical-features-coarse-dog-detector	Experimental	panorai.features	panorai-spherical-coarse-dog-detector/v1	SphericalCoarseDoGDetector, SphericalCoarseDoGDetectorConfig
spherical-features-tangent-patches	Experimental	panorai.features	panorai-tangent-patches/v1	OpenCVTangentDescriptor, OpenCVTangentDescriptorConfig, TangentDescriptorSet, TangentPatch, TangentPatchGeometry, TangentPatchProvider, TangentPatchRequest, TangentPatchSet
spherical-feature-resolution-selection	Experimental	panorai.features	panorai-resolution-selection/v1	ResolutionLevelReport, ResolutionSelectionObservation, ResolutionSelectionPolicy, ResolutionSelectionReport, ResolutionTransitionReport, select_feature_resolution
spherical-features-tangent-descriptor-v2	Experimental	panorai.features	panorai-tangent-opencv-descriptor/v2	OpenCVTangentDescriptorV2, OpenCVTangentDescriptorV2Config, TangentDescriptorHypothesisSet
spherical-relative-pose-pipeline	Experimental	panorai.features	panorai-spherical-relative-pose-pipeline/v1-experimental	ExtractSphericalFeaturePair, MatchSphericalFeatures, SphericalFeaturePair, SphericalImagePair, ToBearingCorrespondences
spherical-deep-learning-depth	Experimental	panorai.experimental.deep_learning	panorai-spherical-metric-depth/v1-experimental	SphericalMetric3D, acquire_metric3d_convnext_large_v1, acquire_metric3d_convnext_tiny_v1, load_spherical_metric3d_convnext_large_v1, load_spherical_metric3d_convnext_tiny_v1, panorai.depth.DepthAdapterUnavailableError, panorai.depth.ModelRegistry, panorai.depth.load_dav2_model, panorai.depth.load_dust3r_model, panorai.depth.load_m3dv2_model, panorai.depth.load_zoe_model, panorai.depth.zoe.load_zoe_model, panorai.experimental.deep_learning.depth.SPHERICAL_METRIC_DEPTH_INTERFACE, panorai.experimental.deep_learning.depth.METRIC3D_CHECKPOINT_REVISION, panorai.experimental.deep_learning.depth.METRIC3D_CONVNEXT_LARGE_V1, panorai.experimental.deep_learning.depth.METRIC3D_CONVNEXT_TINY_V1, panorai.experimental.deep_learning.depth.METRIC3D_SOURCE, panorai.experimental.deep_learning.depth.METRIC3D_SOURCE_COMMIT, panorai.experimental.deep_learning.depth.ExternalArtifactRecord, panorai.experimental.deep_learning.depth.ExternalArtifactSpec, panorai.experimental.deep_learning.depth.LoadedSphericalDepthModel, panorai.experimental.deep_learning.depth.Metric3DAssets, panorai.experimental.deep_learning.depth.SphericalMetric3D, panorai.experimental.deep_learning.depth.UpstreamTermsNotAcceptedError, panorai.experimental.deep_learning.depth.acquire_metric3d_convnext_large_v1, panorai.experimental.deep_learning.depth.acquire_metric3d_convnext_tiny_v1, panorai.experimental.deep_learning.depth.load_spherical_metric3d_convnext_large_v1, panorai.experimental.deep_learning.depth.load_spherical_metric3d_convnext_tiny_v1
tangent-da3-metric-depth	Experimental	panorai.experimental.deep_learning	panorai-depth-anything-3-metric-tangent/v1-experimental	DA3MetricTangent, acquire_da3metric_large, load_da3metric_large, panorai.experimental.deep_learning.da3.DA3Assets, panorai.experimental.deep_learning.da3.DA3MetricTangent, panorai.experimental.deep_learning.da3.DA3TermsNotAcceptedError, panorai.experimental.deep_learning.da3.DA3_CANONICAL_FOCAL_PX, panorai.experimental.deep_learning.da3.DA3_CHECKPOINT_REVISION, panorai.experimental.deep_learning.da3.DA3_MODEL_ID, panorai.experimental.deep_learning.da3.DA3_PATCH_SIZE, panorai.experimental.deep_learning.da3.DA3_SOURCE, panorai.experimental.deep_learning.da3.DA3_SOURCE_COMMIT, panorai.experimental.deep_learning.da3.DA3METRIC_LARGE, panorai.experimental.deep_learning.da3.LoadedDA3MetricModel, panorai.experimental.deep_learning.da3.SPHERICAL_DA3_METRIC_DEPTH_INTERFACE, panorai.experimental.deep_learning.da3.acquire_da3metric_large, panorai.experimental.deep_learning.da3.load_da3metric_large
spherical-semantic-segmentation	Experimental	panorai.experimental.deep_learning.segmentation	panorai-spherical-semantic-segmentation/v1	SPHERICAL_MASK_PROPOSALS_INTERFACE, SPHERICAL_PROXY_SEGMENTATION_INTERFACE, SPHERICAL_SEMANTIC_SEGMENTATION_INTERFACE, SAM21_HIERA_LARGE_LICENSE, SAM21_HIERA_LARGE_REPOSITORY, SAM21_HIERA_LARGE_REVISION, IMAGENET_PROXY_VOCABULARY, DenseSemanticEvidence, Sam21Assets, Sam21FileRecord, Sam21HieraLargeSegmenter, Sam21TermsNotAcceptedError, SamMultimaskOutput, SegmentPrompt, SemanticProxyConcept, SphericalBinaryMask, SphericalProxySegmenter, SphericalMaskProposal, SphericalMaskProposalSet, SphericalSeed, SphericalSegment, SphericalSegmentationConfig, SphericalSegmentationResult, SphericalSemanticSegmenter, acquire_sam21_hiera_large, advance_chart, backproject_face_mask_sets, angular_distance_degrees, backproject_face_masks, concept_display_names, concept_evidence_from_imagenet, concept_proxy_names, connected_component_at, consensus_frontiers, extract_mask_face, extract_rgb_face, face_point_direction, fibonacci_coverage_seeds, load_sam21_hiera_large, majority_and_envelope, mask_stability_score, maximum_pairwise_iou, merge_proposals, non_maximum_suppression, partition_proposals_by_origin, pairwise_mask_iou, prompt_from_mask, prompt_grid, proposal_is_accepted, resolve_panoptic_map, select_semantic_seeds, semantic_support_for_mask, solid_angle_weights, weighted_containment, weighted_intersection_over_union
spherical-relative-pose	Experimental	panorai.estimators	panorai-spherical-relative-pose/v1	CalibrationEvaluation, DecoupledPoseReport, EstimateRelativePose, FivePointSample, FivePointSampler, FivePointSamplingDiagnostics, ModelCompetitionReport, ModelEvidence, PoseStabilityReport, RelativePoseAcceptancePolicy, RelativePoseConfidenceCalibrator, RelativePoseOptions, RelativePoseQualityReport, RelativePoseResult, TranslationOrientationReport, SpatiallyWeightedFivePointSampler, SphericalRelativePoseEstimator, UniformFivePointSampler, estimate_relative_pose, native_kernels_available, solve_five_point_essential, spherical_tangent_sampson_error
semantic-object-localization	Experimental	panorai.object_localization	panorai-object-localization/v1	JOINT_MATCH_CLUSTERS_INTERFACE, JointMatchCluster, JointMatchClusterConfig, JointMatchClusterResult, MULTIVIEW_OBJECT_HYPOTHESES_INTERFACE, BearingTrackTriangulation, DirectionalRegionTransfer, HypothesisAffinity, HypothesisAffinityConfig, HypothesisGnomonicRegion, HypothesisPairCues, HypothesisReductionCandidate, HypothesisReductionResult, HypothesisRegionEvaluation, HypothesisTransferEvaluation, HypothesisViewConsistency, HypothesisViewEmbedding, HypothesisViewPairEvaluation, MultiviewObjectHypothesis, MultiviewObjectHypothesisResult, MultiviewSpatialRegion, OBJECT_LOCALIZATION_INTERFACE, OBJECT_LOCALIZATION_STABILITY, ObjectHypothesis, ObjectLocalizationConfig, ObjectLocalizationPipeline, ObjectLocalizationResult, PairObjectLocalizationInput, RegionAssociation, ReducedHypothesisRecord, RegisteredSemanticEvidence, RegisteredBearingObservation, RegisteredBearingTrack, RegisteredPoseInconsistencyError, RegisteredRadialDepth, SEMANTIC_MATCH_PRIOR_INTERFACE, SEMANTIC_REGION_PROPOSALS_INTERFACE, SPHERICAL_ANCHOR_FUSION_INTERFACE, SemanticMatchPrior, SemanticMatchPriorConfig, SemanticQuery, SemanticConcept, SemanticRegionProposalConfig, SemanticRegionProposalResult, SemanticRegionObservation, SemanticTrackObservation, SphericalObjectHypothesisConfig, SphericalObjectHypothesisGenerator, SphericalObjectHypothesisMethod, SphericalObjectHypothesisMethodConfig, SphericalObjectHypothesisMethodResult, SphericalAnchorAffinity, SphericalAnchorCluster, SphericalAnchorClusterDecision, SphericalAnchorDecision, SphericalAnchorFusionConfig, SphericalAnchorFusionResult, SphericalAnchorPairCues, SphericalFOVAnchor, SphericalRegionMetrics, SpatialLocationHypothesis, SymmetricRegionTransfer, assign_region_associations, build_semantic_match_prior, cluster_region_association_matches, evaluate_spherical_region, fuse_registered_spherical_anchors, generate_spherical_fov_anchors, hypothesis_pair_affinity, hypothesis_view_consistency, triangulate_registered_bearing_track, localize_region_association, object_hypothesis_id, propose_region_associations, reduce_object_hypotheses, semantic_region_from_map, semantic_regions_from_map, spherical_region_mask, spherical_anchor_pair_affinity, spherical_solid_angle_weights, symmetric_spherical_region_transfer, transfer_spherical_region
spherical-reconstruction	Experimental	panorai.reconstruction	panorai-spherical-reconstruction/v1	BuildRegisteredReferenceSets, ColorizeSurface, DenseReconstructionWorkspace, EstimateMultiViewRanges, ExtractSurface, FuseTSDF, MultiViewRangeMap, MultiViewRangeSet, RegisteredReferenceSets, RegisteredSphericalScene, RegisteredSphericalView, SphericalBaselinePrior, SphericalCameraPose, SphericalDenseReconstructionResult, SphericalGlobalMapper, SphericalGlobalMapperOptions, SphericalPairwisePoseEdge, SphericalRangePrior, SphericalReconstructionDiagnostics, SphericalReconstructionResult, SphericalTrack, SphericalTrackObservation, SurfaceMesh, TSDFSpec, TSDFVolume, ValidateDenseReconstruction, colorize_surface, extract_surface, fuse_tsdf
metric-spherical-landmark-ba	Experimental	panorai.reconstruction.metric_landmark_ba	panorai-metric-spherical-landmark-ba/v1-experimental	METRIC_SPHERICAL_LANDMARK_BA_INTERFACE, MetricBearingObservation, MetricLandmarkBAOptions, MetricLandmarkBAReport, MetricLandmarkBAResult, MetricRadialRangePrior, MetricScaleGauge, MetricSphericalCamera, MetricSphericalLandmark, refine_metric_spherical_landmarks
spherical-dense-stereo	Experimental	panorai.stereo	panorai-spherical-dense-stereo/v1-experimental	SphericalDenseStereo, SphericalStereoOptions, SphericalStereoResult, classical, panoramic, colorize_spherical_range, estimate_spherical_range, render_spherical_stereo_result
classical-rectified-stereo	Experimental	panorai.stereo.classical	panorai-classical-dense-stereo/v1-experimental	ADCensusConfig, ADCensusCost, AbsoluteDifferenceCost, BirchfieldTomasiCost, BoxCostAggregation, BuildStereoCost, CensusCost, CensusMGMConfig, ClassicalStereoResult, CrossBasedCostAggregation, ELASConfig, ELASSupportPrior, MoreGlobalMatching, OpenCVStereoMatcher, PatchMatchConfig, PatchMatchStereo, RectifiedStereoGeometry, RectifiedStereoPair, RefineStereoDisparity, SelectStereoDisparity, SemiGlobalMatching, StereoBMConfig, StereoCostVolume, StereoDisparityCandidate, StereoSGBMConfig, StereoValidationConfig, TransformStereoCost, ad_census_pipeline, census_mgm_pipeline, disparity_labels, elas_pipeline, patchmatch_pipeline, stereo_bm_pipeline, stereo_sgbm_pipeline
registered-full-sphere-stereo-core	Experimental	panorai.stereo.panoramic	panorai-registered-full-sphere-stereo/v1-experimental	FullSphereMultiViewStereo, FullSphereStereoOptions, FullSphereStereoResult, OverlappingCubemapPlanner, PanoramicStereoPose, RegisteredPanoramaSet, StereoSourceView
panoramic-dense-stereo-workflow	Experimental	panorai.stereo.panoramic	panorai-panoramic-dense-stereo/v1-experimental	BackProjectStereoRange, DenseStereoPerPair, FuseStereoRange, PanoramicStereoInput, PanoramicStereoResult, PlanRectifiedStereoViews, ProjectStereoViewPairs, RectifiedStereoViewPlanner, RectifiedStereoViewSpec, ResolveStereoPose, ResolveStereoScale, SelectStereoViewPairs, SphereNativeStereo, SphericalStereoViewPairer, StereoPairDiagnostic, StereoViewDescriptor, StereoViewPairScore, StereoViewSelectionDiagnostic, StereoViewPlan, ValidatePanoramicStereo, spec_from_axes
spherical-slam	Experimental	panorai.slam	panorai-spherical-slam/v1	EquidistantFisheyeCamera, FisheyeRayProjection, SphericalImageFrame, SphericalIncrementalSLAM, SphericalIncrementalSLAMDiagnostics, SphericalIncrementalSLAMOptions, SphericalIncrementalSLAMResult, SphericalKeyframeSummary, SphericalLocalBAReport, SphericalMapObservation, SphericalMapPoint, SphericalSLAMDiagnostics, SphericalSLAMFrameSummary, SphericalSLAMOptions, SphericalSLAMPose, SphericalSLAMResult, SphericalTrackingResult, SphericalVisualSLAM
rotation-pair-calibration	Experimental	panorai.calibration	panorai-rotation-pair-calibration/v1-experimental	RotationCalibrationOptions, RotationCalibrationResult, calibrate_rotation_pair
robust-model-fitting	Experimental	panorai.model_fitting	panorai-robust-model-fitting/v1-experimental	HomographyModel, ModelFamily, RobustFitOptions, RobustFitResult, RotationModel, fit_homography, fit_rotation, robust_fit
spherical-estimators-auto-experimental	Experimental	panorai.estimators	panorai-estimator/auto-experimental	—

Relative pose

The current public estimator family is Experimental and imported from panorai.estimators.

Relative-pose computation components

Component	Input	Output	Role
SphericalRelativePoseEstimator	weighted reference/source unit bearings	RelativePoseResult or None	Direct configurable Essential/R/t estimator; usable without Pipeline.
estimate_relative_pose	bearing arrays and options	RelativePoseResult or None	Functional entry point to the same mathematical implementation.
EstimateRelativePose	SphericalFeatureMatches or SphericalBearingCorrespondences	RelativePoseResult or None	Stage adapter; it does not duplicate the estimator.
RelativePoseOptions	configuration values	immutable options	Solver, MSAC ranking, refit, refinement, stability and backend controls.
RelativePoseAcceptancePolicy	RelativePoseQualityReport	accepted flag and rejection reasons	Post-estimation quality decision, separate from capture eligibility.
RelativePoseConfidenceCalibrator	labeled quality reports with disjoint IDs	calibrated probabilities and evaluation	Optional calibration; raw quality is not presented as probability.

Sampling strategies

Injectable minimal-set samplers

Component	Stability	Behavior
FivePointSampler	Experimental	Protocol implemented by RANSAC proposal strategies.
SpatiallyWeightedFivePointSampler	Experimental	Default diversity-aware proposals with a uniform mixture; full-set scoring is unchanged.
UniformFivePointSampler	Experimental	Classic uniform minimal-set proposals and the valid adaptive w**5 trial bound.
FivePointSample / FivePointSamplingDiagnostics	Experimental	Auditable proposal and sampling evidence retained by the result.

Policies are intentionally separate

RelativePoseCapturePolicy evaluates operator-visible capture facts before feature extraction. RelativePoseAcceptancePolicy evaluates the inferred pose after robust estimation. A capture can be eligible and still fail pose estimation; a returned pose can still be rejected by its quality policy.

RelativePoseProfile freezes the selected frontend, options, sampler and post-estimation policy under one named identity. It does not absorb capture policy because capture evidence has different inputs and provenance.

Result and diagnostic objects are cataloged under typed data and results. Mathematical details and exact members remain in the estimator API.

Reusable robust model fitting

The Experimental panorai.model_fitting namespace is independent from any one Application:

Robust fitting components

Component	Input / output	Responsibility
robust_fit / ModelFamily	aligned observation arrays → RobustFitResult	Deterministic RANSAC/MSAC sampling, full-set scoring, adaptive trial bound and local all-inlier refitting for a caller-defined model family.
RotationModel / fit_rotation	paired unit bearings → target-from-source SO(3)	Wahba/Kabsch fit with angular residuals in radians.
HomographyModel / fit_homography	paired planar pixels → projective transform	Normalized DLT with symmetric transfer residuals in pixels.

Residual units are part of the model contract and must match the configured threshold. These components do not select which physical scene model is appropriate.

Rotation-pair calibration

The Experimental panorai.calibration namespace converts pinhole pixel centres to +Z-forward camera rays and estimates a central rotation pair. calibrate_rotation_pair accepts matched pixels, image sizes and optional horizontal FOVs and returns RotationCalibrationResult with intrinsics, SO(3), inliers, spatial coverage and observability reasons.

The current model fixes a centred principal point, square pixels, zero skew and no lens distortion. When both FOVs are missing it estimates one shared horizontal FOV; absence of metadata is not absence of assumptions. See the calibration reference and stitching guide.