Merge pull request #2033 from jmackay2/fix_maybe_uninitialized

fix maybe unitialized warning

Author: dellaert

gtsam/geometry/FundamentalMatrix.cpp

@@ -9,10 +9,6 @@
 #include <gtsam/geometry/FundamentalMatrix.h>
 #include <gtsam/geometry/Point2.h>
 
-#if defined(__GNUC__) && !defined(__clang__)
-#pragma GCC diagnostic ignored "-Wmaybe-uninitialized"
-#endif
-
 namespace gtsam {
 
 //*************************************************************************
@@ -40,6 +36,9 @@ FundamentalMatrix::FundamentalMatrix(const Matrix3& U, double s,
 FundamentalMatrix::FundamentalMatrix(const Matrix3& F) {
   // Perform SVD
   Eigen::JacobiSVD<Matrix3> svd(F, Eigen::ComputeFullU | Eigen::ComputeFullV);
+  if (svd.info() != Eigen::ComputationInfo::Success) {
+    throw std::runtime_error("FundamentalMatrix::FundamentalMatrix: SVD computation failure");
+  }
 
   // Extract U and V
   Matrix3 U = svd.matrixU();