diff --git a/modules/contrib/src/rgbdodometry.cpp b/modules/contrib/src/rgbdodometry.cpp
index 5cfd629eee..2ec4c01e1b 100644
--- a/modules/contrib/src/rgbdodometry.cpp
+++ b/modules/contrib/src/rgbdodometry.cpp
@@ -49,7 +49,7 @@
 
 #ifdef HAVE_EIGEN
 #include <Eigen/Core>
-#include <unsupported/Eigen/MatrixFunctions>
+//#include <unsupported/Eigen/MatrixFunctions>
 
 #include <Eigen/Dense>
 #endif
@@ -77,18 +77,18 @@ void computeProjectiveMatrix( const Mat& ksi, Mat& Rt )
 {
     CV_Assert( ksi.size() == Size(1,6) && ksi.type() == CV_64FC1 );
 
-#ifdef HAVE_EIGEN
-    const double* ksi_ptr = reinterpret_cast<const double*>(ksi.ptr(0));
-    Eigen::Matrix<double,4,4> twist, g;
-    twist << 0.,          -ksi_ptr[2], ksi_ptr[1],  ksi_ptr[3],
-             ksi_ptr[2],  0.,          -ksi_ptr[0], ksi_ptr[4],
-             -ksi_ptr[1], ksi_ptr[0],  0,           ksi_ptr[5],
-             0.,          0.,          0.,          0.;
-    g = twist.exp();
+//#ifdef HAVE_EIGEN
+//    const double* ksi_ptr = reinterpret_cast<const double*>(ksi.ptr(0));
+//    Eigen::Matrix<double,4,4> twist, g;
+//    twist << 0.,          -ksi_ptr[2], ksi_ptr[1],  ksi_ptr[3],
+//             ksi_ptr[2],  0.,          -ksi_ptr[0], ksi_ptr[4],
+//             -ksi_ptr[1], ksi_ptr[0],  0,           ksi_ptr[5],
+//             0.,          0.,          0.,          0.;
+//    g = twist.exp();
 
 
-    eigen2cv(g, Rt);
-#else
+//    eigen2cv(g, Rt);
+//#else
     // for infinitesimal transformation
     Rt = Mat::eye(4, 4, CV_64FC1);
 
@@ -100,7 +100,7 @@ void computeProjectiveMatrix( const Mat& ksi, Mat& Rt )
     Rt.at<double>(0,3) = ksi.at<double>(3);
     Rt.at<double>(1,3) = ksi.at<double>(4);
     Rt.at<double>(2,3) = ksi.at<double>(5);
-#endif
+//#endif
 }
 
 static