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Won't compile with recent Xivo

I'm trying to get this working and having some difficulty.
Machine is a fresh install of Ubuntu 20.04, with ROS Noetic.

To add paths to missing libraries, I've changed my CmakeLists.txt in xivo_ros to the following:

`include_directories(
  $ENV{XIVO_ROOT}/common
  $ENV{XIVO_ROOT}/src
  $ENV{XIVO_ROOT}/thirdparty/eigen-3.3.7/include/eigen3
  $ENV{XIVO_ROOT}/thirdparty/jsoncpp/include
  $ENV{XIVO_ROOT}/thirdparty/Pangolin/include
  $ENV{XIVO_ROOT}/thirdparty/glog/build
  $ENV{XIVO_ROOT}/thirdparty/glog/include
  $ENV{XIVO_ROOT}/thirdparty/gflags/include
  $ENV{XIVO_ROOT}/thirdparty/DBoW2/include
  $ENV{XIVO_ROOT}/thirdparty/pnp
  ${PROJECT_SOURCE_DIR}/include
  ${CATKIN_DEVEL_PREFIX}/include
  ${catkin_INCLUDE_DIRS}
)

find_package(OpenCV REQUIRED)

link_directories(
  $ENV{XIVO_ROOT}/lib
  $ENV{XIVO_ROOT}/thirdparty/gflags/lib
  $ENV{XIVO_ROOT}/thirdparty/glog/lib
  $ENV{XIVO_ROOT}/thirdparty/jsoncpp/lib
  $ENV{XIVO_ROOT}/thirdparty/Pangolin/lib
  $ENV{XIVO_ROOT}/thirdparty/DBoW2/lib
  $ENV{XIVO_ROOT}/thirdparty/gflags/lib
)`

And am now getting this error:

`/usr/bin/ld: /home/andy/xivo/lib/libxest.a(graph.cpp.o): in function `xivo::Graph::FindNewGaugeFeatures(xivo::Group*)':
/home/andy/xivo/src/graph.cpp:270: undefined reference to `xivo::PointsAreCollinear(std::vector<Eigen::Matrix<double, 3, 1, 0, 3, 1>, std::allocator<Eigen::Matrix<double, 3, 1, 0, 3, 1> > > const&, double)'
collect2: error: ld returned 1 exit status
make[2]: *** [xivo_ros/CMakeFiles/xivo_ros.di`

Any help appreciated.

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