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well, it says matrix is an unknown type, so you probably need to include something containing the definition of matrix

#include <eigen3/Eigen/Eigen>

also potentially you want to add

include_directories(src ${EIGEN3_INCLUDE_DIR})

because then you can use

#include <Eigen/Eigen>

which works even on non-Ubuntu plattforms

well, it says matrix is an unknown type, so you probably need to include something containing the definition of matrix

#include <eigen3/Eigen/Eigen>

also potentially you want to addadd to your CMakeLists.txt:

include_directories(src ${EIGEN3_INCLUDE_DIR})

because then you can use

#include <Eigen/Eigen>

which works even on non-Ubuntu plattforms