diff --git a/gtsam/sfm/DsfTrackGenerator.h b/gtsam/sfm/DsfTrackGenerator.h
index 095faa72b..619ca40ca 100644
--- a/gtsam/sfm/DsfTrackGenerator.h
+++ b/gtsam/sfm/DsfTrackGenerator.h
@@ -104,8 +104,8 @@ class DsfTrackGenerator
     // set elements from camera index of a detection and the index of that detection in that camera's keypoint list,
     // i.e. (i,k).
     std::vector<SfmTrack2d> generate_tracks_from_pairwise_matches(
-        const MatchIndicesMap matches_dict,
-        const KeypointsList keypoints_list)
+        const MatchIndicesMap& matches_dict,
+        const KeypointsList& keypoints_list)
     {
       std::vector<SfmTrack2d> track_2d_list;
 
diff --git a/gtsam/sfm/sfm.i b/gtsam/sfm/sfm.i
index 84988f06c..89fc2b281 100644
--- a/gtsam/sfm/sfm.i
+++ b/gtsam/sfm/sfm.i
@@ -43,11 +43,19 @@ class Keypoints
 }; // check if this should be a method
 
 
+class SfmTrack2d
+{
+  void addMeasurement(const gtsam::NamedSfmMeasurement &m);
+  std::vector<gtsam::NamedSfmMeasurement> measurements();
+  bool validate_unique_cameras();
+};
+
+
 class DsfTrackGenerator {
   DsfTrackGenerator();
-  std::vector<SfmTrack2d> generate_tracks_from_pairwise_matches(
-    const gtsam::MatchIndicesMap matches_dict,
-    const gtsam::KeypointsList keypoints_list);
+  std::vector<gtsam::SfmTrack2d> generate_tracks_from_pairwise_matches(
+    const gtsam::MatchIndicesMap& matches_dict,
+    const gtsam::KeypointsList& keypoints_list);
 };
 
 
diff --git a/python/gtsam/tests/test_DsfTrackGenerator.py b/python/gtsam/tests/test_DsfTrackGenerator.py
index 5546453a6..51665df7a 100644
--- a/python/gtsam/tests/test_DsfTrackGenerator.py
+++ b/python/gtsam/tests/test_DsfTrackGenerator.py
@@ -1,4 +1,4 @@
-"""
+"""Unit tests for track generation using a Disjoint Set Forest data structure.
 
 Authors: John Lambert
 """
@@ -17,9 +17,9 @@ class TestDsfTrackGenerator(GtsamTestCase):
 
     def test_track_generation(self) -> None:
         """Ensures that DSF generates two tracks from measurements in 3 images (H=200,W=400)."""
-        kps_i0 = Keypoints(coordinates=np.array([[10.,20],[30,40]]))
-        kps_i1 = Keypoints(coordinates=np.array([[50.,60],[70,80],[90,100]]))
-        kps_i2 = Keypoints(coordinates=np.array([[110.,120],[130,140]]))
+        kps_i0 = Keypoints(coordinates=np.array([[10.0, 20], [30, 40]]))
+        kps_i1 = Keypoints(coordinates=np.array([[50.0, 60], [70, 80], [90, 100]]))
+        kps_i2 = Keypoints(coordinates=np.array([[110.0, 120], [130, 140]]))
 
         keypoints_list = KeypointsList()
         keypoints_list.append(kps_i0)
@@ -28,8 +28,8 @@ class TestDsfTrackGenerator(GtsamTestCase):
 
         # For each image pair (i1,i2), we provide a (K,2) matrix of corresponding image indices (k1,k2).
         matches_dict = MatchIndicesMap()
-        matches_dict[(0,1)] = np.array([[0,0],[1,1]])
-        matches_dict[(1,2)] = np.array([[2,0],[1,1]])
-        import pdb; pdb.set_trace()
+        matches_dict[(0, 1)] = np.array([[0, 0], [1, 1]])
+        matches_dict[(1, 2)] = np.array([[2, 0], [1, 1]])
 
-        tracks = DsfTrackGenerator.generate_tracks_from_pairwise_matches(matches_dict, keypoints_list)
+        tracks = DsfTrackGenerator().generate_tracks_from_pairwise_matches(matches_dict, keypoints_list)
+        print(tracks[0])