From 98ae00f1efd0cd53ad0113436bdad4d061d1e9e9 Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Sat, 1 Mar 2014 19:24:51 -0500
Subject: [PATCH] Avoid malloc in common case?

---
 gtsam/slam/GeneralSFMFactor.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/gtsam/slam/GeneralSFMFactor.h b/gtsam/slam/GeneralSFMFactor.h
index ea3a842bc..9142f9d3d 100644
--- a/gtsam/slam/GeneralSFMFactor.h
+++ b/gtsam/slam/GeneralSFMFactor.h
@@ -101,8 +101,8 @@ namespace gtsam {
         if (H2) *H2 = zeros(2, point.dim());
         std::cout << e.what() << ": Landmark "<< DefaultKeyFormatter(this->key2())
                               << " behind Camera " << DefaultKeyFormatter(this->key1()) << std::endl;
+        return zero(2);
       }
-      return zero(2);
     }
 
     /** return the measured */