diff --git a/gtsam/linear/GaussianConditionalUnordered.cpp b/gtsam/linear/GaussianConditionalUnordered.cpp
index 7af208b46..e4837eb34 100644
--- a/gtsam/linear/GaussianConditionalUnordered.cpp
+++ b/gtsam/linear/GaussianConditionalUnordered.cpp
@@ -167,7 +167,8 @@ namespace gtsam {
       gtsam::transposeMultiplyAdd(-1.0, Matrix(getA(it)), frontalVec, gy[*it]);
 
     // Scale by sigmas
-    frontalVec.array() *= model_->sigmas().array();
+    if(model_)
+      frontalVec.array() *= model_->sigmas().array();
 
     // Write frontal solution into a VectorValues
     DenseIndex vectorPosition = 0;
diff --git a/gtsam/linear/JacobianFactorUnordered.cpp b/gtsam/linear/JacobianFactorUnordered.cpp
index c01113bf5..3d0dfa6e2 100644
--- a/gtsam/linear/JacobianFactorUnordered.cpp
+++ b/gtsam/linear/JacobianFactorUnordered.cpp
@@ -389,16 +389,24 @@ namespace gtsam {
 
   /* ************************************************************************* */
   Matrix JacobianFactorUnordered::augmentedInformation() const {
-    Matrix AbWhitened = Ab_.full();
-    model_->WhitenInPlace(AbWhitened);
-    return AbWhitened.transpose() * AbWhitened;
+    if(model_) {
+      Matrix AbWhitened = Ab_.full();
+      model_->WhitenInPlace(AbWhitened);
+      return AbWhitened.transpose() * AbWhitened;
+    } else {
+      return Ab_.full().transpose() * Ab_.full();
+    }
   }
 
   /* ************************************************************************* */
   Matrix JacobianFactorUnordered::information() const {
-    Matrix AWhitened = this->getA();
-    model_->WhitenInPlace(AWhitened);
-    return AWhitened.transpose() * AWhitened;
+    if(model_) {
+      Matrix AWhitened = this->getA();
+      model_->WhitenInPlace(AWhitened);
+      return AWhitened.transpose() * AWhitened;
+    } else {
+      return this->getA().transpose() * this->getA();
+    }
   }
 
   /* ************************************************************************* */
diff --git a/gtsam/linear/tests/testGaussianConditionalUnordered.cpp b/gtsam/linear/tests/testGaussianConditionalUnordered.cpp
index f858c3d5b..a53d8c308 100644
--- a/gtsam/linear/tests/testGaussianConditionalUnordered.cpp
+++ b/gtsam/linear/tests/testGaussianConditionalUnordered.cpp
@@ -187,8 +187,8 @@ TEST( GaussianConditionalUnordered, solve_simple )
     (1, Vector_(4, -3.1,-3.4,-11.9,-13.2));
 
   // verify indices/size
-  EXPECT_LONGS_EQUAL(2, cg.size());
-  EXPECT_LONGS_EQUAL(4, cg.rows());
+  EXPECT_LONGS_EQUAL(2, (long)cg.size());
+  EXPECT_LONGS_EQUAL(4, (long)cg.rows());
 
   // solve and verify
   actual.insert(cg.solve(actual));
@@ -224,8 +224,8 @@ TEST( GaussianConditionalUnordered, solve_multifrontal )
     (10, sl1);
 
   // verify indices/size
-  EXPECT_LONGS_EQUAL(3, cg.size());
-  EXPECT_LONGS_EQUAL(4, cg.rows());
+  EXPECT_LONGS_EQUAL(3, (long)cg.size());
+  EXPECT_LONGS_EQUAL(4, (long)cg.rows());
 
   // solve and verify
   actual.insert(cg.solve(actual));
@@ -272,7 +272,7 @@ TEST( GaussianConditionalUnordered, solveTranspose ) {
 TEST( GaussianConditionalUnordered, information ) {
 
   // Create R matrix
-  Matrix R; R <<
+  Matrix R(4,4); R <<
       1, 2, 3, 4,
       0, 5, 6, 7,
       0, 0, 8, 9,
@@ -293,7 +293,7 @@ TEST( GaussianConditionalUnordered, information ) {
 TEST( GaussianConditionalUnordered, isGaussianFactor ) {
 
   // Create R matrix
-  Matrix R; R <<
+  Matrix R(4,4); R <<
       1, 2, 3, 4,
       0, 5, 6, 7,
       0, 0, 8, 9,