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/usr/share/pkgconfig/eigen3.pc is in libeigen3-dev 3.3~beta1-2.

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prefix=/usr
exec_prefix=${prefix}

Name: Eigen3
Description: A C++ template library for linear algebra: vectors, matrices, and related algorithms
Requires:
Version: 3.2.92
Libs:
Cflags: -I${prefix}/include/eigen3