diff --git a/pkgs/applications/video/rtabmap/default.nix b/pkgs/applications/video/rtabmap/default.nix
index 200fab274339..c25d89ea2375 100644
--- a/pkgs/applications/video/rtabmap/default.nix
+++ b/pkgs/applications/video/rtabmap/default.nix
@@ -53,6 +53,7 @@ stdenv.mkDerivation rec {
   buildInputs = [
     ## Required
     opencv
+    opencv.cxxdev
     pcl
     liblapack
     xorg.libSM