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Cleanup eigen svd clang warning. Update svd options usage. #2032

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Cleanup eigen svd clang warning. Update svd options usage. #2032

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9 changes: 4 additions & 5 deletions gtsam/geometry/FundamentalMatrix.cpp
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Expand Up @@ -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 {

//*************************************************************************
Expand All @@ -39,7 +35,10 @@ FundamentalMatrix::FundamentalMatrix(const Matrix3& U, double s,

FundamentalMatrix::FundamentalMatrix(const Matrix3& F) {
// Perform SVD
Eigen::JacobiSVD<Matrix3> svd(F, Eigen::ComputeFullU | Eigen::ComputeFullV);
Eigen::JacobiSVD<Matrix3, Eigen::ComputeFullU | Eigen::ComputeFullV> svd(F);
if (svd.info() != Eigen::ComputationInfo::Success) {
throw std::runtime_error("FundamentalMatrix::FundamentalMatrix: SVD computation failure.");
}

// Extract U and V
Matrix3 U = svd.matrixU();
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2 changes: 1 addition & 1 deletion gtsam/geometry/Rot2.cpp
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Expand Up @@ -131,7 +131,7 @@ Rot2 Rot2::relativeBearing(const Point2& d, OptionalJacobian<1, 2> H) {

/* ************************************************************************* */
Rot2 Rot2::ClosestTo(const Matrix2& M) {
Eigen::JacobiSVD<Matrix2> svd(M, Eigen::ComputeFullU | Eigen::ComputeFullV);
Eigen::JacobiSVD<Matrix2, Eigen::ComputeFullU | Eigen::ComputeFullV> svd(M);
const Matrix2& U = svd.matrixU();
const Matrix2& V = svd.matrixV();
const double det = (U * V.transpose()).determinant();
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2 changes: 1 addition & 1 deletion gtsam/geometry/SO3.cpp
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Expand Up @@ -200,7 +200,7 @@ SO3 SO3::AxisAngle(const Vector3& axis, double theta) {
template <>
GTSAM_EXPORT
SO3 SO3::ClosestTo(const Matrix3& M) {
Eigen::JacobiSVD<Matrix3> svd(M, Eigen::ComputeFullU | Eigen::ComputeFullV);
Eigen::JacobiSVD<Matrix3, Eigen::ComputeFullU | Eigen::ComputeFullV> svd(M);
const auto& U = svd.matrixU();
const auto& V = svd.matrixV();
const double det = (U * V.transpose()).determinant();
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