Add Python unit test

gtsam/sfm/DsfTrackGenerator.h

@@ -11,7 +11,7 @@
 
 /**
  * @file DsfTrackGenerator.h
- * @date May 2022
+ * @date July 2022
  * @author John Lambert
  * @brief Identifies connected components in the keypoint matched graph.
  */

python/gtsam/tests/test_DsfTrackGenerator.py

@@ -0,0 +1,34 @@
+"""
+
+Authors: John Lambert
+"""
+
+import unittest
+
+import numpy as np
+
+import gtsam
+from gtsam import DsfTrackGenerator, Keypoints, KeypointsList, MatchIndicesMap
+from gtsam.utils.test_case import GtsamTestCase
+
+
+class TestDsfTrackGenerator(GtsamTestCase):
+    """Tests for DsfTrackGenerator."""
+
+    def test_track_generation(self) -> None:
+        """ """
+        kps_i0 = Keypoints(coordinates=np.array([[0,0],[1,1]]))
+        kps_i1 = Keypoints(coordinates=np.array([[2,2],[3,3],[4,4]]))
+        kps_i2 = Keypoints(coordinates=np.array([[5,5],[6,6]]))
+
+        keypoints_list = KeypointsList()
+        keypoints_list.append(kps_i0)
+        keypoints_list.append(kps_i1)
+        keypoints_list.append(kps_i2)
+
+        matches_dict = MatchIndicesMap()
+        matches_dict[(0,0)] = np.array([[0,0],[1,1]])
+        matches_dict[(1,1)] = np.array([[2,2],[3,3],[4,4]])
+        import pdb; pdb.set_trace()
+
+        tracks = DsfTrackGenerator.generate_tracks_from_pairwise_matches(matches_dict, keypoints_list)