diff --git a/CMakeLists.txt b/CMakeLists.txt
index b90df5e2..b9b81a0f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -51,6 +51,7 @@ set(DEPS_DIRECTORY ${PROJECT_SOURCE_DIR}/deps)
 
 add_subdirectory(${DEPS_DIRECTORY}/arena-sdk)
 add_subdirectory(${DEPS_DIRECTORY}/json)
+include(${DEPS_DIRECTORY}/eigen/CMakeLists.txt)
 # =============================
 include(${DEPS_DIRECTORY}/torch/CMakeLists.txt)
 # NOTE: temporarily leaving out opencv until we have it working in dev container
diff --git a/Dockerfile b/Dockerfile
index 4c1ce173..4a953399 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -1,4 +1,4 @@
-FROM ubuntu:22.04
+FROM amd64/ubuntu:22.04
 # https://gist.github.com/SSARCandy/fc960d8905330ac695e71e3f3807ce3d
 # OpenCV dependencies from above
 RUN apt-get update \
diff --git a/deps/eigen/CMakeLists.txt b/deps/eigen/CMakeLists.txt
new file mode 100644
index 00000000..7bbeb35d
--- /dev/null
+++ b/deps/eigen/CMakeLists.txt
@@ -0,0 +1,15 @@
+set(EIGEN_DIR "${CMAKE_BINARY_DIR}/_deps/eigen-src")
+
+include(FetchContent)
+
+FetchContent_Declare(eigen
+    GIT_REPOSITORY https://gitlab.com/libeigen/eigen
+    GIT_PROGRESS TRUE
+    GIT_SHALLOW TRUE
+    GIT_TAG 3.4.0)
+
+FetchContent_MakeAvailable(eigen)
+
+target_include_directories(${PROJECT_NAME} PRIVATE 
+    "${EIGEN_DIR}/Eigen"
+)
\ No newline at end of file
diff --git a/src/main.cpp b/src/main.cpp
index 502a08a1..5df804b6 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -1,7 +1,6 @@
 #include <iostream>
-
 #include "core/states.hpp"
-
+#include "Eigen"
 // #include <opencv2/opencv.hpp>
 #include <torch/torch.h>
 #include <iostream>
@@ -10,27 +9,9 @@
 
 int main()
 {
-  std::cout << "hellasdfasdfTarget torch_cpu not found.o" << std::endl;
-
   PreparationState state;
 
   state.tick();
-
-  torch::Tensor tensor = torch::rand({2, 3});
-  std::cout << tensor << std::endl;
-
-  // Mat output = Mat::zeros(120, 350, CV_8UC3);
-
-  // // write text on the matrix:
-  // putText(output,
-  //         "Hello World :)",
-  //         Point(15, 70),
-  //         FONT_HERSHEY_PLAIN,
-  //         3,
-  //         Scalar(0, 255, 0),
-  //         4);
-
-  // imwrite("Output.png", output);
-
+  
   return 0;
 }
\ No newline at end of file