From ebfb94c4fd597f5a4a848d7c844b64fe84a70205 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Mon, 17 Feb 2025 18:25:23 -0500 Subject: [PATCH] small fixes --- python/gtsam/examples/HybridCity10000.py | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/python/gtsam/examples/HybridCity10000.py b/python/gtsam/examples/HybridCity10000.py index 00807352c..d5d86157d 100644 --- a/python/gtsam/examples/HybridCity10000.py +++ b/python/gtsam/examples/HybridCity10000.py @@ -48,6 +48,7 @@ def parse_arguments(): default=10, help="The maximum number of hypotheses to keep at any time.") parser.add_argument( + "--plot_hypotheses", "-p", action="store_true", help="Plot all hypotheses. NOTE: This is exponential, use with caution." @@ -173,8 +174,8 @@ class Experiment: self.new_factors_ = HybridNonlinearFactorGraph() self.all_factors_ = HybridNonlinearFactorGraph() self.initial_ = Values() - - self.plot_hypotheses: = plot_hypotheses + + self.plot_hypotheses = plot_hypotheses def hybrid_loop_closure_factor(self, loop_counter, key_s, key_t, measurement: Pose2): @@ -358,6 +359,10 @@ class Experiment: delimiter=" ") # Get all possible assignments + if discrete_keys.size() > 5: + print("Too many discrete keys to plot all hypotheses. Exiting.") + exit(0) + all_assignments = gtsam.cartesianProduct(discrete_keys) for idx, assignment in enumerate(all_assignments):