diff --git a/gtsam/geometry/FundamentalMatrix.cpp b/gtsam/geometry/FundamentalMatrix.cpp
index 596700432..5bb6cc12e 100644
--- 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();