diff --git a/.gitignore b/.gitignore
index fae25dce1facaccabf8aa15085cf2491d5959212..94d4918bdec0d0d02df589c529d938e6c87d72d4 100644
--- a/.gitignore
+++ b/.gitignore
@@ -31,5 +31,5 @@ src/examples/map_apriltag_save.yaml
 
 \.vscode/
 build_release/
-
+.clangd
 wolf.found
diff --git a/cmake_modules/wolfConfig.cmake b/cmake_modules/wolfConfig.cmake
index 7556468eb89689ea49f9ab98c6d511c9efee0db3..93cffad43715860edef9cd91ce1d083414b009e4 100644
--- a/cmake_modules/wolfConfig.cmake
+++ b/cmake_modules/wolfConfig.cmake
@@ -91,6 +91,9 @@ list(APPEND wolf_LIBRARIES ${YAMLCPP_LIBRARY})
 if(NOT Eigen3_FOUND)
   FIND_PACKAGE(Eigen3 REQUIRED)
 endif()
+if(${EIGEN3_VERSION_STRING} VERSION_LESS 3.3)
+  message(FATAL_ERROR "Found Eigen ${EIGEN3_VERSION_MAJOR}.${EIGEN3_VERSION_MINOR}. The minimum version required is Eigen 3.3")
+endif()
 list(APPEND wolf_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIRS})
 
 SET(CMAKE_MODULE_PATH ${BACKUP_MODULE_PATH})