basic skeleton of python script

python/gtsam/examples/HybridCity10000.py

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+"""
+GTSAM Copyright 2010-2019, Georgia Tech Research Corporation,
+Atlanta, Georgia 30332-0415
+All Rights Reserved
+
+See LICENSE for the license information
+
+Script for running hybrid estimator on the City10000 dataset.
+
+Author: Varun Agrawal
+"""
+
+import argparse
+
+import numpy as np
+
+import gtsam
+
+
+def parse_arguments():
+    """Parse command line arguments"""
+    parser = argparse.ArgumentParser()
+    parser.add_argument("data_file",
+                        help="The path to the City10000 data file",
+                        default="T1_city10000_04.txt")
+    return parser.parse_args()
+
+
+# Noise models
+open_loop_model = gtsam.noiseModel.Diagonal.Sigmas(np.ones(3) * 10)
+open_loop_constant = open_loop_model.negLogConstant()
+
+prior_noise_model = gtsam.noiseModel.Diagonal.Sigmas(
+    np.asarray([0.0001, 0.0001, 0.0001]))
+
+pose_noise_model = gtsam.noiseModel.Diagonal.Sigmas(
+    np.asarray([1.0 / 30.0, 1.0 / 30.0, 1.0 / 100.0]))
+pose_noise_constant = pose_noise_model.negLogConstant()
+
+
+def main():
+    """Main runner"""
+    args = parse_arguments()
+
+
+if __name__ == "__main__":
+    main()