Edited initial description, removed generated additional resources

Author: CodeXTL

gtsam/geometry/doc/PinholePose.ipynb

@@ -15,7 +15,7 @@
     "id": "pinholepose-intro"
    },
    "source": [
-    "A `PinholePose` couples a camera `Pose3` with a fixed calibration model. It is useful when the calibration is known ahead of time and fixed during optimization. This is different from `PinholeCamera`, which also optimizes the calibration itself. For simplicity, this guide demonstrates the `Cal3_S2` variant of `PinholePose` (`PinholePoseCal3_S2` in Python), though many other calibration models are supported:\n",
+    "A `PinholePose` couples a camera `Pose3` with a fixed calibration model. It is useful when the calibration is known ahead of time and fixed during optimization. This is different from `PinholeCamera`, which also optimizes the calibration itself. `PinholePose` is compatible with several calibration models:\n",
     "\n",
     "- `Cal3_S2`\n",
     "- `Cal3Bundler`\n",
@@ -30,10 +30,8 @@
     "id": "pinholepose-understanding"
    },
    "source": [
-    "## Understanding the Pinhole Pose\n",
-    "A *pinhole pose* packages the camera's pose in the world with a **fixed** calibration. ",
-    "Conceptually it acts like a `PinholeCamera` with constant intrinsics. ",
-    "When the intrinsics are known from a prior calibration step, optimizing only the pose can simplify many problems. ",
+    "A `PinholePose` packages the camera's pose in the world with a **fixed** calibration. Conceptually it acts like a `PinholeCamera` with constant intrinsics. \n",
+    "When the intrinsics are known from a prior calibration step, optimizing only the pose can simplify many problems. \n",
     "Throughout this notebook we will refer to `PinholePoseCal3_S2`, which pairs a `Pose3` with a `Cal3_S2` instance."
    ]
   },
@@ -48,7 +46,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 2,
+   "execution_count": 1,
    "metadata": {
     "id": "pinholepose-pip-install"
    },
@@ -67,7 +65,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 3,
+   "execution_count": 2,
    "metadata": {
     "id": "pinholepose-imports"
    },
@@ -96,7 +94,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 4,
+   "execution_count": 3,
    "metadata": {
     "id": "pinholepose-init-code"
    },
@@ -137,7 +135,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 5,
+   "execution_count": 4,
    "metadata": {},
    "outputs": [
     {
@@ -180,7 +178,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 15,
+   "execution_count": 5,
    "metadata": {},
    "outputs": [
     {
@@ -189,7 +187,7 @@
        "dtype('float64')"
       ]
      },
-     "execution_count": 15,
+     "execution_count": 5,
      "metadata": {},
      "output_type": "execute_result"
     }
@@ -200,7 +198,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 21,
+   "execution_count": 6,
    "metadata": {
     "id": "pinholepose-named-code"
    },
@@ -252,7 +250,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 22,
+   "execution_count": 7,
    "metadata": {
     "id": "pinholepose-prop-code"
    },
@@ -301,7 +299,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 23,
+   "execution_count": 8,
    "metadata": {
     "id": "pinholepose-project"
    },
@@ -330,7 +328,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 24,
+   "execution_count": 9,
    "metadata": {
     "id": "pinholepose-backproject"
    },
@@ -359,7 +357,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 25,
+   "execution_count": 10,
    "metadata": {
     "id": "pinholepose-range"
    },
@@ -395,7 +393,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 26,
+   "execution_count": 11,
    "metadata": {
     "id": "pinholepose-manifold-code"
    },
@@ -422,17 +420,25 @@
    "source": [
     "## Example: Using PinholePose in a Factor Graph\n",
     "\n",
-    "When camera intrinsics are known, `PinholePose` can serve as the variable representing a camera pose. ",
+    "When camera intrinsics are known, `PinholePose` can serve as the variable representing a camera pose. \n",
     "The snippet below builds a minimal factor graph with one `GenericProjectionFactorCal3_S2`."
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 12,
    "metadata": {
     "id": "pinholepose-factor-code"
    },
-   "outputs": [],
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Graph has 1 factor(s) and 2 variable(s)\n"
+     ]
+    }
+   ],
    "source": [
     "graph = gtsam.NonlinearFactorGraph()\n",
     "initial = gtsam.Values()\n",
@@ -451,18 +457,6 @@
     "print(f'Graph has {graph.size()} factor(s) and {initial.size()} variable(s)')"
    ]
   },
-  {
-   "cell_type": "markdown",
-   "metadata": {
-    "id": "pinholepose-additional-resources"
-   },
-   "source": [
-    "## Additional Resources\n",
-    "\n",
-    "- [Pinhole camera model (Wikipedia)](https://en.wikipedia.org/wiki/Pinhole_camera_model)\n",
-    "- [GTSAM Visual SLAM examples](https://github.com/borglab/gtsam/tree/develop/python/gtsam/examples)\n"
-   ]
-  },
   {
    "cell_type": "markdown",
    "metadata": {