diff --git a/python/gtsam/examples/HybridCity10000.py b/python/gtsam/examples/HybridCity10000.py index bc820b35b..81fb90382 100644 --- a/python/gtsam/examples/HybridCity10000.py +++ b/python/gtsam/examples/HybridCity10000.py @@ -29,6 +29,24 @@ def parse_arguments(): parser.add_argument("--data_file", help="The path to the City10000 data file", default="T1_city10000_04.txt") + parser.add_argument( + "--max_loop_count", + "-l", + type=int, + default=10000, + help="The maximum number of loops to run over the dataset") + parser.add_argument( + "--update_frequency", + "-u", + type=int, + default=3, + help="After how many steps to run the smoother update.") + parser.add_argument( + "--max_num_hypotheses", + "-m", + type=int, + default=10, + help="The maximum number of hypotheses to keep at any time.") return parser.parse_args() @@ -407,7 +425,10 @@ def main(): """Main runner""" args = parse_arguments() - experiment = Experiment(gtsam.findExampleDataFile(args.data_file)) + experiment = Experiment(gtsam.findExampleDataFile(args.data_file), + max_loop_count=args.max_loop_count, + update_frequency=args.update_frequency, + max_num_hypotheses=args.max_num_hypotheses) experiment.run()