6 More Python Examples + Standardized Notebook Format

[rohan-bansal]

Hello!

I did a deep dive into the GTSAM codebase and translated some examples from C++ to Python that haven't been done already - I also did my best to explain them in notebook format.

Additionally, I updated the README to check off files I saw implemented already.

Converted examples:

• CreateSFMExampleData.cpp -> CreateSFMExampleData.ipynb
• DiscreteBayesNetExample.cpp -> DiscreteBayesNetExample.ipynb
• FisheyeExample.cpp -> FisheyeExample.ipynb
• HMMExample.cpp -> HMMExample.ipynb
• Pose2SLAMwSPCG.cpp -> Pose2SLAMwSPCG.ipynb
• Pose2SLAMStressTest.cpp -> Pose2SLAMStressTest.ipynb

One thing I noticed were that ExpressionFactorGraph (and maybe some of the auto differentiation framework) is not exposed yet in Python, so I wasn't able to convert that example. I noted this in the README and would be happy to tackle adding this in the future. Other than Pose2SLAMExampleExpressions and Pose2SLAMExample_lago, all the Pose2 examples are now translated.

[dellaert]

This is awesome. Many thanks !!!!
Three requests:

• the copyright cells are nice, but please add a cell tag "remove-cell" with the ... menu.
• It would be nice the have an "Open in colab" button, like this in this example
• That file also has a cell, again not shown on website as it has a "remove-cell" tag, that says:

try:
    import google.colab
    %pip install --quiet gtsam-develop
except ImportError:
    pass

Can you add that as well for Colab?
The easiest way is probably to copy the json and work in raw json, copying from the example I gave.

[rohan-bansal]

@dellaert I made the requested changes. I added a script python/gtsam/notebooks/standardize_notebooks.py, which, when run on a directory of python notebooks, will add the license (with remove-cell tag), the gtsam-develop import (with remove-cell tag), and the "Open in Colab" button!

I ran the script on all the notebooks in the example directory for now.

[rohan-bansal]

Updated, script has been run on all of gtsam/*/doc/*

[dellaert]

Incredible! Merging. (CI is irrelevant here)