diff --git a/CMakeLists.txt b/CMakeLists.txt
index b67acfc1..1c51931f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -156,7 +156,10 @@ IF(OS_WINDOWS)
 ENDIF()
 
 # Eigen support.
-FIND_PACKAGE(Eigen3 3.4.0 REQUIRED)
+FIND_PACKAGE(Eigen3 REQUIRED)
+IF(Eigen3_VERSION VERSION_LESS "3.4.0")
+	MESSAGE(FATAL_ERROR "Cannot find Eigen3 3.4.0 or newer.")
+ENDIF()
 
 # OpenCV support.
 FIND_PACKAGE(OpenCV REQUIRED)
diff --git a/benchmarks/cluster/mean-shift-alternatives.hpp b/benchmarks/cluster/mean-shift-alternatives.hpp
index a7c572ff..e2aab920 100644
--- a/benchmarks/cluster/mean-shift-alternatives.hpp
+++ b/benchmarks/cluster/mean-shift-alternatives.hpp
@@ -40,12 +40,6 @@ public:
 	using VectorOfVectors = std::vector<Vector, Eigen::aligned_allocator<Vector>>;
 
 private:
-	static_assert(EIGEN_IMPLIES(ROWS == 1 && COLUMNS != 1, STORAGE_ORDER == Eigen::RowMajor)
-				  && "Eigen doesn't allow row-vectors to be stored in column-major storage");
-
-	static_assert(EIGEN_IMPLIES(COLUMNS == 1 && ROWS != 1, STORAGE_ORDER == Eigen::ColMajor)
-				  && "Eigen doesn't allow column-vectors to be stored in row-major storage");
-
 	const uint64_t mNumSamples;
 
 	const uint16_t mNumDimensions;
@@ -322,12 +316,6 @@ public:
 	using VectorOfVectors = std::vector<Vector, Eigen::aligned_allocator<Vector>>;
 
 private:
-	static_assert(EIGEN_IMPLIES(ROWS == 1 && COLUMNS != 1, STORAGE_ORDER == Eigen::RowMajor)
-				  && "Eigen doesn't allow row-vectors to be stored in column-major storage");
-
-	static_assert(EIGEN_IMPLIES(COLUMNS == 1 && ROWS != 1, STORAGE_ORDER == Eigen::ColMajor)
-				  && "Eigen doesn't allow column-vectors to be stored in row-major storage");
-
 	using RTree = boost::geometry::index::rtree<Mat, boost::geometry::index::linear<16>>;
 
 	const uint64_t mNumSamples;
diff --git a/cmake/dv-processing-config.cmake.in b/cmake/dv-processing-config.cmake.in
index 9692b181..03e00602 100644
--- a/cmake/dv-processing-config.cmake.in
+++ b/cmake/dv-processing-config.cmake.in
@@ -35,7 +35,10 @@ FIND_PACKAGE(Boost 1.80 REQUIRED COMPONENTS nowide)
 FIND_PACKAGE(OpenSSL REQUIRED)
 
 # Eigen support.
-FIND_PACKAGE(Eigen3 3.4.0 REQUIRED)
+FIND_PACKAGE(Eigen3 REQUIRED)
+IF (Eigen3_VERSION VERSION_LESS "3.4.0")
+    MESSAGE(FATAL_ERROR "Cannot find Eigen3 3.4.0 or newer.")
+ENDIF ()
 
 # OpenCV support.
 FIND_PACKAGE(OpenCV REQUIRED)
diff --git a/include/dv-processing/containers/kd_tree/eigen_matrix_adaptor.hpp b/include/dv-processing/containers/kd_tree/eigen_matrix_adaptor.hpp
index c23c2aeb..d0b180d7 100644
--- a/include/dv-processing/containers/kd_tree/eigen_matrix_adaptor.hpp
+++ b/include/dv-processing/containers/kd_tree/eigen_matrix_adaptor.hpp
@@ -103,14 +103,7 @@ private:
 	using Tree     = nanoflann::KDTreeEigenMatrixAdaptor<Matrix, SAMPLE_ORDER == Eigen::ColMajor ? ROWS : COLUMNS,
 			nanoflann::metric_L2_Simple, SAMPLE_ORDER == Eigen::RowMajor>;
 
-	static_assert(EIGEN_IMPLIES(ROWS == 1 && COLUMNS != 1, STORAGE_ORDER == Eigen::RowMajor)
-				  && "Eigen doesn't allow row-vectors to be stored in column-major storage");
-
-	static_assert(EIGEN_IMPLIES(COLUMNS == 1 && ROWS != 1, STORAGE_ORDER == Eigen::ColMajor)
-				  && "Eigen doesn't allow column-vectors to be stored in row-major storage");
-
 	const uint32_t mNumSamples;
-
 	const uint32_t mNumDimensions;
 
 	std::unique_ptr<Tree> mTree;
diff --git a/include/dv-processing/visualization/pose_visualizer.hpp b/include/dv-processing/visualization/pose_visualizer.hpp
index 11b18ba9..2fa6b398 100644
--- a/include/dv-processing/visualization/pose_visualizer.hpp
+++ b/include/dv-processing/visualization/pose_visualizer.hpp
@@ -456,8 +456,12 @@ public:
 	 */
 	template<concepts::Coordinate3DConstructible Output = Eigen::Vector3f>
 	[[nodiscard]] Output getCameraOrientation() const {
+#if EIGEN_MAJOR_VERSION < 5
 		Eigen::Vector3f eulerAngles = mT_C_W.inverse().getRotationMatrix().eulerAngles(0, 1, 2);
-		eulerAngles                 = eulerAngles * RAD_TO_DEG;
+#else
+		Eigen::Vector3f eulerAngles = mT_C_W.inverse().getRotationMatrix().canonicalEulerAngles(0, 1, 2);
+#endif
+		eulerAngles = eulerAngles * RAD_TO_DEG;
 		return Output(eulerAngles.x(), eulerAngles.y(), eulerAngles.z());
 	}