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errors: validate input arguments

Rodrigo Muino Tomonari requested to merge github/fork/BridgeAR/improve-errors into master

This makes sure the input arguments get validated so implementation errors will be caught early. It also improves a couple of error messages by providing more detailed information and fixes errors detected by the new functionality. Besides that a error type got simplified and tests got refactored.

Checklist
  • make -j4 test (UNIX), or vcbuild test (Windows) passes
  • tests and/or benchmarks are included
  • documentation is changed or added
  • commit message follows commit guidelines

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