diff --git a/Eigen/src/Geometry/Quaternion.h b/Eigen/src/Geometry/Quaternion.h
index 5e52d5b5a..c0845653d 100644
--- a/Eigen/src/Geometry/Quaternion.h
+++ b/Eigen/src/Geometry/Quaternion.h
@@ -515,7 +515,7 @@ inline Derived& QuaternionBase<Derived>::setFromTwoVectors(const MatrixBase<Deri
   {
     c = std::max<Scalar>(c,-1);
     Matrix<Scalar,2,3> m; m << v0.transpose(), v1.transpose();
-    JacobiSVD<Matrix<Scalar,2,3> > svd(m);
+    JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
     Vector3 axis = svd.matrixV().col(2);
 
     Scalar w2 = (Scalar(1)+c)*Scalar(0.5);