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We (the ROS community) provide a CMake module for Eigen, but it is provided under the name Eigen but it is deprecated in Jade:
https://github.com/ros/cmake_modules#eigen-deprecated
But the package you're compiling is not using that deprecated module and is failing because it is looking for the Eigen provided Eigen3 CMake module. So the problem is likely that the version of Eigen you installed on your machine does not have this Eigen3 CMake module. Older versions of Eigen did not ship it. If you installed Eigen with Homebrew then it might be a packaging problem with Eigen in Homebrew. The Jade migration guide has a suggest way that packages should find Eigen to avoid disruption in the mean time:
http://wiki.ros.org/jade/Migration#Eigen_CMake_Module_in_cmake_modules
It seems the package you're trying to compile (pcl_ros?) is not doing this or is doing it incorrectly. If it were following the suggestion then it would have "fallen" back on the FindEigen.cmake cmake module provided by the cmake_modules ROS package.
It could be that something else is going on that's causing the issue, but that's my take on it.
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