Merge pull request borglab#542 from Alexma3312/sim3

Point3 mean to throw an exception when input size=0 .
jlblancoc · Sep 29, 2020 · 6fdf39d · 6fdf39d
2 parents 182dfbd + 983652b
commit 6fdf39d
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diff --git a/gtsam/geometry/Point3.cpp b/gtsam/geometry/Point3.cpp
@@ -77,6 +77,7 @@ double dot(const Point3 &p, const Point3 &q, OptionalJacobian<1, 3> H1,
 
 Point3Pair mean(const std::vector<Point3Pair> &abPointPairs) {
   const size_t n = abPointPairs.size();
+  if (n == 0) throw std::invalid_argument("Point3::mean input Point3Pair vector is empty");
   Point3 aCentroid(0, 0, 0), bCentroid(0, 0, 0);
   for (const Point3Pair &abPair : abPointPairs) {
     aCentroid += abPair.first;

diff --git a/gtsam/geometry/Point3.h b/gtsam/geometry/Point3.h
@@ -62,6 +62,7 @@ GTSAM_EXPORT double dot(const Point3& p, const Point3& q,
 /// mean
 template <class CONTAINER>
 GTSAM_EXPORT Point3 mean(const CONTAINER& points) {
+  if (points.size() == 0) throw std::invalid_argument("Point3::mean input container is empty");
   Point3 sum(0, 0, 0);
   sum = std::accumulate(points.begin(), points.end(), sum);
   return sum / points.size();