From b2a7c116f281a195802cf83b53aea1ea773d1b23 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jaros=C5=82aw=20Pleskot?= <jpleskot@aplus.org.pl>
Date: Tue, 5 Oct 2021 14:07:55 +0200
Subject: [PATCH] ComputeMeanVariance fix against NaNs in variance

---
 src/theia/sfm/filter_view_pairs_from_relative_translation.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/theia/sfm/filter_view_pairs_from_relative_translation.cc b/src/theia/sfm/filter_view_pairs_from_relative_translation.cc
index b7a7783a8..04f49812b 100644
--- a/src/theia/sfm/filter_view_pairs_from_relative_translation.cc
+++ b/src/theia/sfm/filter_view_pairs_from_relative_translation.cc
@@ -191,7 +191,7 @@ void ComputeMeanVariance(
   for (const auto& translation : relative_translations) {
     *variance += (translation.second - *mean).cwiseAbs2();
   }
-  *variance /= static_cast<double>(relative_translations.size() - 1);
+  *variance /= static_cast<double>(relative_translations.size());
 }
 
 // Performs a single iterations of the translation filtering. This method is