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 for (auto pFrame: refFrames)
    {
        vector<cv::DMatch> matches = orb->match( pFrame, currentFrame );
        vector<cv::DMatch>  validMatches;
        Eigen::Isometry3d invPose = pFrame->getTransform().inverse();
        for (auto m:matches)
        {
            cv::Point3f pObj = pFrame->features[m.queryIdx].position;
            if (pObj == cv::Point3f(0,0,0))
                continue;
            Eigen::Vector4d vec = invPose * Eigen::Vector4d(pObj.x, pObj.y, pObj.z,1 );
            obj.push_back( cv::Point3f(vec(0), vec(1), vec(2) ) );
            img.push_back( currentFrame->features[m.trainIdx].keypoint.pt );
        }
    }

CMake Error at CMakeLists.txt:13 (find_package):
  By not providing "FindEigen3.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "Eigen3", but
  CMake did not find one.

  Could not find a package configuration file provided by "Eigen3" with any
  of the following names:

    Eigen3Config.cmake
    eigen3-config.cmake

  Add the installation prefix of "Eigen3" to CMAKE_PREFIX_PATH or set
  "Eigen3_DIR" to a directory containing one of the above files.  If "Eigen3"
  provides a separate development package or SDK, be sure it has been
  installed.


-- Configuring incomplete, errors occurred!
See also "/code/rgbd-slam-tutor2/build/CMakeFiles/CMakeOutput.log".
See also "/code/rgbd-slam-tutor2/build/CMakeFiles/CMakeError.log".
root@milton-OptiPlex-9010:/code/rgbd-slam-tutor2/build#