Fix old eigen builds

2025-02-28 21:37:20 -05:00 · 2025-02-28 21:37:20 -05:00 · c4396e2de9
parent e24def4abb
commit c4396e2de9
1 changed files with 2 additions and 0 deletions
--- a/gtsam/geometry/FundamentalMatrix.cpp
+++ b/gtsam/geometry/FundamentalMatrix.cpp
@ -36,9 +36,11 @@ FundamentalMatrix::FundamentalMatrix(const Matrix3& U, double s,
 FundamentalMatrix::FundamentalMatrix(const Matrix3& F) {
  // Perform SVD
  Eigen::JacobiSVD<Matrix3> svd(F, Eigen::ComputeFullU | Eigen::ComputeFullV);
+  #if EIGEN_VERSION_AT_LEAST(3, 4, 0)
  if (svd.info() != Eigen::ComputationInfo::Success) {
    throw std::runtime_error("FundamentalMatrix::FundamentalMatrix: SVD computation failure");
  }
+  #endif

  // Extract U and V
  Matrix3 U = svd.matrixU();