Cleanup eigen svd clang warning. Update svd options usage.

[jmackay2]

This removes the GCC diagnostic handling for svd by checking the svd info. This was made available in Eigen 3.4, which this repository uses.

This also updates a few of the JacobiSVD to use the templated options. This is the preferred method instead of passing it in as an argument, which will be deprecated in the future.

[dellaert]

Cool! but still some Ci issue :-)

[dellaert]

BTW, this might be an issue:

• what version of Eigen do we bundle? Is it 3.4??
• what “system Eigen” do we support? I think we should look at earliest supported a Ubuntu and see what it comes with.
  So, this PR might introduce incompatibilities.