commit 4027f6997521ac1e8b033a3534d0f8912533970b
author Xiaodong Huang <yienlilu@gmail.com> Wed Jan 31 13:28:02 2024 +0800
committer Xiaodong Huang <yienlilu@gmail.com> Thu Feb 01 08:32:49 2024 +0800
tree 418be8f04d87e65a769229c020974b385e2b40d7
parent 1b2ebabf5da20ec61e1aa6d8ca913383c27ea24c

Update Eigen::BDCSVD usage to comply with Eigen 3.4

Change-Id: Ida9360071056cbbc8cf3dff4dd34e6a3119200d4

internal/ceres/covariance_impl.cc

diff --git a/internal/ceres/covariance_impl.cc b/internal/ceres/covariance_impl.cc
index 6e8362d..e9b87ee 100644
--- a/internal/ceres/covariance_impl.cc
+++ b/internal/ceres/covariance_impl.cc
@@ -723,8 +723,13 @@
   }
   event_logger.AddEvent("ConvertToDenseMatrix");
 
+#if EIGEN_VERSION_AT_LEAST(3, 4, 0)
+  Eigen::BDCSVD<Matrix, Eigen::ComputeThinU | Eigen::ComputeThinV> svd(
+      dense_jacobian);
+#else
   Eigen::BDCSVD<Matrix> svd(dense_jacobian,
                             Eigen::ComputeThinU | Eigen::ComputeThinV);
+#endif
 
   event_logger.AddEvent("SingularValueDecomposition");