diff --git a/include/pclomp/voxel_grid_covariance_omp.h b/include/pclomp/voxel_grid_covariance_omp.h
index 725e8fd3..98da6b6c 100644
--- a/include/pclomp/voxel_grid_covariance_omp.h
+++ b/include/pclomp/voxel_grid_covariance_omp.h
@@ -104,7 +104,7 @@ namespace pclomp
           nr_points (0),
           mean_ (Eigen::Vector3d::Zero ()),
           centroid (),
-          cov_ (Eigen::Matrix3d::Identity ()),
+          cov_ (Eigen::Matrix3d::Zero ()),
           icov_ (Eigen::Matrix3d::Zero ()),
           evecs_ (Eigen::Matrix3d::Identity ()),
           evals_ (Eigen::Vector3d::Zero ())
diff --git a/include/pclomp/voxel_grid_covariance_omp_impl.hpp b/include/pclomp/voxel_grid_covariance_omp_impl.hpp
index 5b579a39..31e1678e 100644
--- a/include/pclomp/voxel_grid_covariance_omp_impl.hpp
+++ b/include/pclomp/voxel_grid_covariance_omp_impl.hpp
@@ -327,7 +327,7 @@ pclomp::VoxelGridCovariance<PointT>::applyFilter (PointCloud &output)
 
       // Single pass covariance calculation
       leaf.cov_ = (leaf.cov_ - 2 * (pt_sum * leaf.mean_.transpose ())) / leaf.nr_points + leaf.mean_ * leaf.mean_.transpose ();
-      leaf.cov_ *= (leaf.nr_points - 1.0) / leaf.nr_points;
+      leaf.cov_ *= leaf.nr_points / (leaf.nr_points - 1.0);
 
       //Normalize Eigen Val such that max no more than 100x min.
       eigensolver.compute (leaf.cov_);