diff --git a/geometry/Rot3.cpp b/geometry/Rot3.cpp
index 075be911f..72766621e 100644
--- a/geometry/Rot3.cpp
+++ b/geometry/Rot3.cpp
@@ -6,6 +6,7 @@
  * @author  Frank Dellaert
  */
 
+#include <boost/math/constants/constants.hpp>
 #include <gtsam/geometry/Rot3.h>
 #include <gtsam/base/Lie-inl.h>
 
diff --git a/geometry/Rot3.h b/geometry/Rot3.h
index 30203638a..2510ce23e 100644
--- a/geometry/Rot3.h
+++ b/geometry/Rot3.h
@@ -10,7 +10,6 @@
 
 #pragma once
 
-#include <boost/math/constants/constants.hpp>
 #include <gtsam/geometry/Point3.h>
 #include <gtsam/base/Testable.h>
 #include <gtsam/base/Lie.h>