From e48fa756c00df060187d717f1a92d4d68e648190 Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Wed, 28 May 2014 22:30:46 -0400
Subject: [PATCH] Fixed bug in the n==0 case

---
 gtsam/linear/NoiseModel.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/gtsam/linear/NoiseModel.cpp b/gtsam/linear/NoiseModel.cpp
index 9717398e1..45314e023 100644
--- a/gtsam/linear/NoiseModel.cpp
+++ b/gtsam/linear/NoiseModel.cpp
@@ -220,6 +220,7 @@ Diagonal::shared_ptr Diagonal::Variances(const Vector& variances, bool smart) {
 Diagonal::shared_ptr Diagonal::Sigmas(const Vector& sigmas, bool smart) {
   if (smart) {
     size_t n = sigmas.size();
+    if (n==0) goto full;
     // look for zeros to make a constraint
     for (size_t j=0; j< n; ++j)
       if (sigmas(j)<1e-8)