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Support Eigen3 5.0.0

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Change-Id: I5cf476a6d8c090861f4ea4a254a35d39e36a6d68
This commit is contained in:
Sergiu Deitsch
2025-09-28 08:35:06 +02:00
parent 77d7044d23
commit f9b7b6651b
3 changed files with 35 additions and 1 deletions
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internal/ceres/covariance_impl.cc
+5
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@@ -724,8 +724,13 @@ bool CovarianceImpl::ComputeCovarianceValuesUsingDenseSVD() {
}
event_logger.AddEvent("ConvertToDenseMatrix");
#if EIGEN_VERSION_AT_LEAST(5, 0, 0)
Eigen::BDCSVD<Matrix, Eigen::ComputeThinU | Eigen::ComputeThinV> svd(
dense_jacobian);
#else // !EIGEN_VERSION_AT_LEAST(5, 0, 0)
Eigen::BDCSVD<Matrix> svd(dense_jacobian,
Eigen::ComputeThinU | Eigen::ComputeThinV);
#endif // EIGEN_VERSION_AT_LEAST(5, 0, 0)
event_logger.AddEvent("SingularValueDecomposition");
internal/ceres/invert_psd_matrix.h
+4
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@@ -67,7 +67,11 @@ typename EigenTypes<kSize, kSize>::Matrix InvertPSDMatrix(
// For a thin SVD the number of columns of the matrix need to be dynamic.
using SVDMType = typename EigenTypes<kSize, Eigen::Dynamic>::Matrix;
#if EIGEN_VERSION_AT_LEAST(5, 0, 0)
Eigen::JacobiSVD<SVDMType, Eigen::ComputeThinU | Eigen::ComputeThinV> svd(m);
#else // !EIGEN_VERSION_AT_LEAST(5, 0, 0)
Eigen::JacobiSVD<SVDMType> svd(m, Eigen::ComputeThinU | Eigen::ComputeThinV);
#endif // EIGEN_VERSION_AT_LEAST(5, 0, 0)
return svd.solve(MType::Identity(size, size));
}