From 4ce7d47bce62fe9780159e57224533dbf6e35315 Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Fri, 14 Feb 2014 01:38:31 -0500
Subject: [PATCH] Fixed bug for non-unit noise models

---
 gtsam/linear/JacobianFactor.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gtsam/linear/JacobianFactor.cpp b/gtsam/linear/JacobianFactor.cpp
index 0630392b7..f7d550390 100644
--- a/gtsam/linear/JacobianFactor.cpp
+++ b/gtsam/linear/JacobianFactor.cpp
@@ -447,7 +447,7 @@ namespace gtsam {
       size_t nj = Ab_(pos).cols();
       Vector dj(nj);
       for (size_t k = 0; k < nj; ++k) {
-        Vector column_k = Ab_(pos).col(k);
+        Vector column_k = model_->whiten(Ab_(pos).col(k));
         dj(k) = dot(column_k,column_k);
       }
       d.insert(j,dj);