From 635a2a079256b73002c8fdabcd631b0b26e47ce6 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <frank@skyd.io>
Date: Thu, 11 Jun 2015 13:22:26 -0700
Subject: [PATCH] Fix bug that could disconnect graph

---
 gtsam/slam/GeneralSFMFactor.h | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/gtsam/slam/GeneralSFMFactor.h b/gtsam/slam/GeneralSFMFactor.h
index e44576e5f..be20ee3fa 100644
--- a/gtsam/slam/GeneralSFMFactor.h
+++ b/gtsam/slam/GeneralSFMFactor.h
@@ -196,8 +196,10 @@ namespace gtsam {
         Point2 reprojError(camera.project2(point, H1, H2) - measured());
         b = -reprojError.vector();
       } catch (CheiralityException& e) {
+        H1.setZero();
+        H2.setZero();
+        b.setZero();
         // TODO warn if verbose output asked for
-        return boost::make_shared<JacobianFactor>();
       }
 
       // Whiten the system if needed