[CMake] Handle precise version of Eigen

CMakeLists.txt

@@ -87,6 +87,11 @@ IF(EIGEN3_FOUND)
     ADD_DEFINITIONS(-DEIGEN3_FUTURE)
     SET(EIGEN3_FUTURE TRUE)
     PKG_CONFIG_APPEND_CFLAGS("-DEIGEN3_FUTURE")
+    IF(${EIGEN3_VERSION} VERSION_LESS "3.3.0")
+      ADD_DEFINITIONS(-DEIGEN3_BETA_3_2_9x)
+      SET(EIGEN3_FUTURE TRUE)
+      PKG_CONFIG_APPEND_CFLAGS("-DEIGEN3_BETA_3_2_9x")
+    ENDIF(${EIGEN3_VERSION} VERSION_LESS "3.3.0")
   ELSE(${EIGEN3_VERSION} VERSION_GREATER "3.2.10")
     SET(EIGEN3_FUTURE FALSE)
   ENDIF(${EIGEN3_VERSION} VERSION_GREATER "3.2.10")

src/macros.hpp

@@ -20,7 +20,7 @@
 
 #include <Eigen/Core>
 
-#ifdef EIGEN3_FUTURE
+#ifdef EIGEN3_BETA_3_2_9x
 namespace se3
 {
   namespace internal