diff --git a/modules/rgbd/src/dynafu_tsdf.cpp b/modules/rgbd/src/dynafu_tsdf.cpp
index 8aff8fec20..34b1a507a2 100644
--- a/modules/rgbd/src/dynafu_tsdf.cpp
+++ b/modules/rgbd/src/dynafu_tsdf.cpp
@@ -127,7 +127,7 @@ void TSDFVolumeCPU::reset()
     volume.forEach<VecT>([](VecT& vv, const int* /* position */)
     {
         Voxel& v = reinterpret_cast<Voxel&>(vv);
-        v.v = 0; v.weight = 0;
+        v.v = 0; v.weight = 0; v.n = 0;
     });
 }
 
diff --git a/modules/rgbd/test/test_dynafu.cpp b/modules/rgbd/test/test_dynafu.cpp
index 1ee102e6e0..5f242f8199 100644
--- a/modules/rgbd/test/test_dynafu.cpp
+++ b/modules/rgbd/test/test_dynafu.cpp
@@ -6,9 +6,21 @@
 
 #include "test_precomp.hpp"
 
-#ifdef HAVE_OPENGL
 namespace opencv_test { namespace {
 
+// integrate() before any warp field nodes exist used to crash with uninitialized Voxel::n
+TEST(DynamicFusion, firstFrameDoesNotCrashBeforeWarpNodesExist)
+{
+    Ptr<kinfu::Params> params = kinfu::Params::coarseParams();
+
+    Mat depth(params->frameSize, CV_16U, Scalar(static_cast<int>(1.5f * params->depthFactor)));
+
+    Ptr<dynafu::DynaFu> df = dynafu::DynaFu::create(params);
+    ASSERT_NO_THROW(df->update(depth));
+}
+
+#ifdef HAVE_OPENGL
+
 static std::vector<std::string> readDepth(std::string fileList)
 {
     std::vector<std::string> v;
@@ -124,6 +136,6 @@ TEST(DynamicFusion, DISABLED)
     CV_UNUSED(flyTest);
 }
 
-}} // namespace
+#endif // HAVE_OPENGL
 
-#endif
+}} // namespace