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Fix old eigen builds

release/4.3a0
jmackay2 2025-02-28 21:37:20 -05:00
parent e24def4abb
commit c4396e2de9
1 changed files with 2 additions and 0 deletions
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gtsam/geometry/FundamentalMatrix.cpp
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@ -36,9 +36,11 @@ FundamentalMatrix::FundamentalMatrix(const Matrix3& U, double s,
FundamentalMatrix::FundamentalMatrix(const Matrix3& F) { FundamentalMatrix::FundamentalMatrix(const Matrix3& F) {
// Perform SVD // Perform SVD
Eigen::JacobiSVD<Matrix3> svd(F, Eigen::ComputeFullU | Eigen::ComputeFullV); Eigen::JacobiSVD<Matrix3> svd(F, Eigen::ComputeFullU | Eigen::ComputeFullV);
#if EIGEN_VERSION_AT_LEAST(3, 4, 0)
if (svd.info() != Eigen::ComputationInfo::Success) { if (svd.info() != Eigen::ComputationInfo::Success) {
throw std::runtime_error("FundamentalMatrix::FundamentalMatrix: SVD computation failure"); throw std::runtime_error("FundamentalMatrix::FundamentalMatrix: SVD computation failure");
} }
#endif
// Extract U and V // Extract U and V
Matrix3 U = svd.matrixU(); Matrix3 U = svd.matrixU();