diff --git a/gtsam/nonlinear/LinearContainerFactor.cpp b/gtsam/nonlinear/LinearContainerFactor.cpp
index d715eb5c78..9ee0681d2a 100644
--- a/gtsam/nonlinear/LinearContainerFactor.cpp
+++ b/gtsam/nonlinear/LinearContainerFactor.cpp
@@ -175,9 +175,10 @@ NonlinearFactor::shared_ptr LinearContainerFactor::rekey(
   Values newLinearizationPoint;
   for (size_t i = 0; i < factor_->size(); ++i) {
     auto mapping = rekey_mapping.find(factor_->keys()[i]);
-    if (mapping != rekey_mapping.end())
+    if (mapping != rekey_mapping.end()) {
       new_factor->factor_->keys()[i] = mapping->second;
       newLinearizationPoint.insert(mapping->second, linearizationPoint_->at(mapping->first));
+    }
   }
   new_factor->linearizationPoint_ = newLinearizationPoint;
 
diff --git a/gtsam/nonlinear/tests/testLinearContainerFactor.cpp b/gtsam/nonlinear/tests/testLinearContainerFactor.cpp
index 2afa2b5fc9..a5015546f5 100644
--- a/gtsam/nonlinear/tests/testLinearContainerFactor.cpp
+++ b/gtsam/nonlinear/tests/testLinearContainerFactor.cpp
@@ -326,13 +326,13 @@ TEST(TestLinearContainerFactor, Rekey) {
   // Make an example factor
   auto nonlinear_factor =
       boost::make_shared<gtsam::BetweenFactor<gtsam::Point3>>(
-          gtsam::Symbol('x', 0), gtsam::Symbol('l', 0), gtsam::Point3(),
+          gtsam::Symbol('x', 0), gtsam::Symbol('l', 0), gtsam::Point3(0, 0, 0),
           gtsam::noiseModel::Isotropic::Sigma(3, 1));
 
   // Linearize and create an LCF
   gtsam::Values linearization_pt;
-  linearization_pt.insert(gtsam::Symbol('x', 0), gtsam::Point3());
-  linearization_pt.insert(gtsam::Symbol('l', 0), gtsam::Point3());
+  linearization_pt.insert(gtsam::Symbol('x', 0), gtsam::Point3(0, 0, 0));
+  linearization_pt.insert(gtsam::Symbol('l', 0), gtsam::Point3(0, 0, 0));
 
   LinearContainerFactor lcf_factor(
       nonlinear_factor->linearize(linearization_pt), linearization_pt);
@@ -363,6 +363,34 @@ TEST(TestLinearContainerFactor, Rekey) {
   CHECK(assert_equal(linearization_pt_rekeyed.keys()[0], lcf_factor_rekey_ptr->keys()[1]));
 }
 
+/* ************************************************************************* */
+TEST(TestLinearContainerFactor, Rekey2) {
+  // Make an example factor
+  auto nonlinear_factor =
+      boost::make_shared<gtsam::BetweenFactor<gtsam::Point3>>(
+          gtsam::Symbol('x', 0), gtsam::Symbol('l', 0), gtsam::Point3(0, 0, 0),
+          gtsam::noiseModel::Isotropic::Sigma(3, 1));
+
+  // Linearize and create an LCF
+  gtsam::Values linearization_pt;
+  linearization_pt.insert(gtsam::Symbol('x', 0), gtsam::Point3(0, 0, 0));
+  linearization_pt.insert(gtsam::Symbol('l', 0), gtsam::Point3(0, 0, 0));
+
+  LinearContainerFactor lcf_factor(
+      nonlinear_factor->linearize(linearization_pt), linearization_pt);
+
+  // Define a key mapping with only a single key remapped.
+  // This should throw an exception if there is a bug.
+  std::map<gtsam::Key, gtsam::Key> key_map;
+  key_map[gtsam::Symbol('x', 0)] = gtsam::Symbol('x', 4);
+
+  // Cast back to LCF ptr
+  LinearContainerFactor::shared_ptr lcf_factor_rekey_ptr =
+      boost::static_pointer_cast<LinearContainerFactor>(
+          lcf_factor.rekey(key_map));
+  CHECK(lcf_factor_rekey_ptr);
+}
+
 /* ************************************************************************* */
 int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
 /* ************************************************************************* */