diff --git a/modules/surface_matching/src/ppf_helpers.cpp b/modules/surface_matching/src/ppf_helpers.cpp
index 0e70e23b9..84b9eaf60 100644
--- a/modules/surface_matching/src/ppf_helpers.cpp
+++ b/modules/surface_matching/src/ppf_helpers.cpp
@@ -442,6 +442,12 @@ Mat samplePCByQuantization(Mat pc, Vec2f& xrange, Vec2f& yrange, Vec2f& zrange,
         pcData[4]=(float)(ny/norm);
         pcData[5]=(float)(nz/norm);
       }
+      else
+      {
+        pcData[3]=0.0f;
+        pcData[4]=0.0f;
+        pcData[5]=0.0f;
+      }
       //#pragma omp atomic
       c++;