Test existing readG2o

cython/gtsam/tests/test_dataset.py

@@ -0,0 +1,33 @@
+"""
+GTSAM Copyright 2010-2019, Georgia Tech Research Corporation,
+Atlanta, Georgia 30332-0415
+All Rights Reserved
+
+See LICENSE for the license information
+
+Unit tests for testing dataset access.
+Author: Frank Dellaert
+"""
+# pylint: disable=invalid-name, E1101
+
+from __future__ import print_function
+
+import unittest
+
+import gtsam
+
+
+class TestDataset(unittest.TestCase):
+    def setUp(self):
+        pass
+
+    def test_3d_graph(self):
+        is3D = True
+        g2o_file = gtsam.findExampleDataFile("pose3example.txt")
+        graph, initial = gtsam.readG2o(g2o_file, is3D)
+        self.assertEqual(graph.size(), 6)
+        self.assertEqual(initial.size(), 5)
+
+
+if __name__ == '__main__':
+    unittest.main()