Edited docs only

gtsam/slam/doc/SmartProjectionFactor.ipynb

@@ -26,7 +26,10 @@
         "- **Configuration:** Its behavior (linearization method, handling of degenerate triangulations) is controlled by `SmartProjectionParams`.\n",
         "\n",
         "**Use Case:** Suitable for Bundle Adjustment or SfM problems where calibration parameters are unknown or need refinement along with camera poses.\n",
-        "**Alternative:** If calibration is known and fixed, use `SmartProjectionPoseFactor` for better efficiency."
+        "**Alternative:** If calibration is known and fixed, use `SmartProjectionPoseFactor` for better efficiency.\n",
+        "\n",
+        "If you are using the factor, please cite:\n",
+        "> **L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert**, \"Eliminating conditionally independent sets in factor graphs: a unifying perspective based on smart factors\", Int. Conf. on Robotics and Automation (ICRA), 2014."
       ]
     },
     {

gtsam/slam/doc/SmartProjectionPoseFactor.ipynb

@@ -26,7 +26,10 @@
         "- **Configuration:** Behavior is controlled by `SmartProjectionParams`.\n",
         "\n",
         "**Use Case:** Ideal for visual SLAM or SfM when camera intrinsics are pre-calibrated and assumed constant.\n",
-        "**Alternative:** If calibration also needs optimization, use `SmartProjectionFactor`."
+        "**Alternative:** If calibration also needs optimization, use `SmartProjectionFactor`.\n",
+        "\n",
+        "If you are using the factor, please cite:\n",
+        "> **L. Carlone, Z. Kira, C. Beall, V. Indelman, F. Dellaert**, \"Eliminating conditionally independent sets in factor graphs: a unifying perspective based on smart factors\", Int. Conf. on Robotics and Automation (ICRA), 2014."
       ]
     },
     {

gtsam/slam/slam.md

@@ -1,26 +1,24 @@
-# SLAM Factors and Algorithms
+# SLAM
 
 The `slam` module provides a collection of factors, constraints, utilities, and initialization algorithms commonly used in Simultaneous Localization and Mapping (SLAM) and Structure from Motion (SfM) applications. It builds upon the core GTSAM inference engine (`gtsam/inference`) and geometric types (`gtsam/geometry`).
 
 ## Core Factors
 
 These are fundamental factor types often used as building blocks in SLAM.
-
+-   [PriorFactor](doc/PriorFactor.ipynb) : A prior factor acting only on the rotation component of a pose variable.
--   [BetweenFactor](doc/BetweenFactor.ipynb) : Represents relative measurements between two poses or other Lie group variables (e.g., odometry).
+-   [BetweenFactor](doc/BetweenFactor.ipynb) : Represents relative measurements between two poses or other Lie group variables (e.g., derived from [odometry](https://en.wikipedia.org/wiki/Odometry)).
--   [PoseRotationPrior](doc/PoseRotationPrior.ipynb) : A prior factor acting only on the rotation component of a pose variable.
--   [PoseTranslationPrior](doc/PoseTranslationPrior.ipynb) : A prior factor acting only on the translation component of a pose variable.
 
 ## Visual SLAM/SfM Factors
 
 Factors specifically designed for visual data (camera measurements).
 
 -   [GenericProjectionFactor](doc/GenericProjectionFactor.ipynb) : Standard monocular projection factor relating a 3D landmark, camera pose, and fixed calibration to a 2D measurement.
--   [StereoFactor](doc/StereoFactor.ipynb) : Standard stereo projection factor relating a 3D landmark, camera pose, and fixed stereo calibration to a `StereoPoint2` measurement.
--   [PlanarProjectionFactor](doc/PlanarProjectionFactor.ipynb) : Projection factors specialized for robots moving on a 2D plane.
 -   [GeneralSFMFactor](doc/GeneralSFMFactor.ipynb) : Projection factors used when camera calibration is unknown or optimized alongside poses and landmarks.
+-   [StereoFactor](doc/StereoFactor.ipynb) : Standard stereo projection factor relating a 3D landmark, camera pose, and fixed stereo calibration to a `StereoPoint2` measurement.
 -   [EssentialMatrixFactor](doc/EssentialMatrixFactor.ipynb) : Factors constraining poses or calibration based on the Essential matrix derived from calibrated cameras.
 -   [EssentialMatrixConstraint](doc/EssentialMatrixConstraint.ipynb) : Factor constraining the relative pose between two cameras based on a measured Essential matrix.
 -   [TriangulationFactor](doc/TriangulationFactor.ipynb) : Factor constraining a 3D point based on a measurement from a single known camera view, useful for triangulation.
+-   [PlanarProjectionFactor](doc/PlanarProjectionFactor.ipynb) : Projection factors specialized for robots moving on a 2D plane.
 
 ## Smart Factors
 
@@ -36,6 +34,8 @@ Factors that implicitly manage landmark variables, marginalizing them out during
 
 Factors representing various geometric relationships or constraints.
 
+-   [PoseRotationPrior](doc/PoseRotationPrior.ipynb) : A prior factor acting only on the rotation component of a pose variable.
+-   [PoseTranslationPrior](doc/PoseTranslationPrior.ipynb) : A prior factor acting only on the translation component of a pose variable.
 -   [OrientedPlane3Factor](doc/OrientedPlane3Factor.ipynb) : Factors for estimating and constraining 3D planar landmarks (`OrientedPlane3`).
 -   [RotateFactor](doc/RotateFactor.ipynb) : Factors constraining an unknown rotation based on how it transforms measured rotations or directions.
 -   [KarcherMeanFactor](doc/KarcherMeanFactor.ipynb) : Factor for constraining the Karcher mean (geometric average) of a set of rotations or other manifold values.