Radu,

I am not sure if this is the correct answer that you expect, but I found
that manifest.xml of ctrutle/stacks/point_cloud_perception/pcl does include
eigen3:

<!-- Message type dependencies -->
  <depend package="sensor_msgs" />

  <!-- Extra libraries -->
  <depend package="eigen3" />
  <depend package="cminpack" />
  <depend package="ann" />
  <depend package="flann" />


Raphael
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