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Merge pull request #542 from Alexma3312/sim3 

Point3 mean to throw an exception when input size=0 .
release/4.3a0
Frank Dellaert 2020-09-29 14:12:52 -04:00 committed by GitHub
parent 182dfbdb44 983652b166
commit 6fdf39d2c1
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2 changed files with 2 additions and 0 deletions
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1
gtsam/geometry/Point3.cpp
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@ -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;

1
gtsam/geometry/Point3.h
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@ -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();