From ecee078c0f911ee9aa351208ff05ebfcb062cfa0 Mon Sep 17 00:00:00 2001
From: jmackay2 <1.732mackay@gmail.com>
Date: Mon, 24 Feb 2025 22:28:38 -0500
Subject: [PATCH] fix maybe unitialized warning

---
 gtsam/geometry/FundamentalMatrix.cpp | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/gtsam/geometry/FundamentalMatrix.cpp b/gtsam/geometry/FundamentalMatrix.cpp
index 5c5e02715..596700432 100644
--- a/gtsam/geometry/FundamentalMatrix.cpp
+++ b/gtsam/geometry/FundamentalMatrix.cpp
@@ -9,10 +9,6 @@
 #include <gtsam/geometry/FundamentalMatrix.h>
 #include <gtsam/geometry/Point2.h>
 
-#if defined(__GNUC__) && !defined(__clang__)
-#pragma GCC diagnostic ignored "-Wmaybe-uninitialized"
-#endif
-
 namespace gtsam {
 
 //*************************************************************************
@@ -40,6 +36,9 @@ FundamentalMatrix::FundamentalMatrix(const Matrix3& U, double s,
 FundamentalMatrix::FundamentalMatrix(const Matrix3& F) {
   // Perform SVD
   Eigen::JacobiSVD<Matrix3> svd(F, Eigen::ComputeFullU | Eigen::ComputeFullV);
+  if (svd.info() != Eigen::ComputationInfo::Success) {
+    throw std::runtime_error("FundamentalMatrix::FundamentalMatrix: SVD computation failure");
+  }
 
   // Extract U and V
   Matrix3 U = svd.matrixU();