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Zero initialize the allocated vector

release/4.3a0
Fan Jiang 2020-06-02 22:00:11 -04:00
parent 151809c89c
commit 9186e656a5
1 changed files with 5 additions and 1 deletions
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6
gtsam/linear/JacobianFactor.cpp
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@ -556,11 +556,15 @@ void JacobianFactor::hessianDiagonalAdd(VectorValues& d) const {
auto result = d.emplace(j, nj); auto result = d.emplace(j, nj);
Vector& dj = result.first->second; Vector& dj = result.first->second;
for (size_t k = 0; k < nj; ++k) { for (size_t k = 0; k < nj; ++k) {
Vector column_k = Ab_(pos).col(k); Vector column_k = Ab_(pos).col(k);
if (model_) if (model_)
model_->whitenInPlace(column_k); model_->whitenInPlace(column_k);
dj(k) += dot(column_k, column_k); if(!result.second)
dj(k) += dot(column_k, column_k);
else
dj(k) = dot(column_k, column_k);
} }
} }
} }