tree fd748f82d25510ebeb6f335247d94a8dd45e63a1
parent 87f823617e83e066654082dd5d1a7ed07b078b72
author Sameer Agarwal <sameeragarwal@google.com> 1501128214 -0700
committer Sameer Agarwal <sameeragarwal@google.com> 1501128338 -0700

InvertPSDMatrix uses dynamic matrices when using SVD

The JacobiSVD algorithm in Eigen does not accept fixed sized
matrices when performing a thin SVD. The assert enforcing this
is only triggered in non-Release builds.

So this change calls JacobiSVD with dynamically sized matrices
as a template parameter rather than a fixed size matrix.

https://github.com/ceres-solver/ceres-solver/issues/304#issuecomment-317965814

Thanks to @debalance for reporting this and @leokoppel for
providing a reproduction.

Change-Id: Ifc3d9ff20d5597f08c0f8573bf2fd99a3ed3d4d3