Connected Components after data association

[johnwlambert]

• Need additional call to "find connected component" algo after data association, in addition to after Shonan, but not afterwards, cannot handle disconnected graph

[2021-02-16 14:36:10,595 ERROR bundle_adjustment.py line 104 38567] LM Optimization failed
Traceback (most recent call last):
  File "/Users/johnlambert/Documents/gtsfm/gtsfm/bundle/bundle_adjustment.py", line 102, in run
    result_values = lm.optimize()
RuntimeError: An inference algorithm was called with inconsistent arguments.  The
factor graph, ordering, or variable index were inconsistent with each
other, or a full elimination routine was called with an ordering that
does not include all of the variables.

[johnwlambert]

@vaishwarya96 do you mind confirming that the latest version of master fixes this issue for you?

cc @ayushbaid

[johnwlambert]

If so, we can go ahead and close this

[johnwlambert]

I confirmed that this was resolved by #113