diff -Nru mrpt-1.3.0/debian/changelog mrpt-1.3.0/debian/changelog
--- mrpt-1.3.0/debian/changelog	2015-01-18 01:36:52.000000000 +0100
+++ mrpt-1.3.0/debian/changelog	2015-09-25 23:35:30.000000000 +0200
@@ -1,3 +1,11 @@
+mrpt (1:1.3.0-1.1) unstable; urgency=medium
+
+  * Non-maintainer upload.
+  * Drop Eigen2-support of Eigen3. (Closes: #786349)
+  * Add --parallel option for a faster build.
+
+ -- Anton Gladky <gladk@debian.org>  Fri, 25 Sep 2015 23:34:45 +0200
+
 mrpt (1:1.3.0-1) unstable; urgency=medium
 
   * New version of upstream sources.
diff -Nru mrpt-1.3.0/debian/patches/eigen3.patch mrpt-1.3.0/debian/patches/eigen3.patch
--- mrpt-1.3.0/debian/patches/eigen3.patch	1970-01-01 01:00:00.000000000 +0100
+++ mrpt-1.3.0/debian/patches/eigen3.patch	2015-09-25 23:34:05.000000000 +0200
@@ -0,0 +1,84 @@
+Description: Drop Eigen2-support of Eigen3
+Author: Anton Gladky <gladk@debian.org>
+Bug-Debian: https://bugs.debian.org/786349
+Last-Update: 2015-09-25
+
+--- mrpt-1.3.0.orig/apps/hmt-slam-gui/hmt_slam_guiApp.cpp
++++ mrpt-1.3.0/apps/hmt-slam-gui/hmt_slam_guiApp.cpp
+@@ -10,6 +10,8 @@
+ 
+ #include "hmt_slam_guiApp.h"
+ 
++#include <mrpt/math/math_frwds.h>
++
+ //(*AppHeaders
+ #include "hmt_slam_guiMain.h"
+ #include <wx/image.h>
+--- mrpt-1.3.0.orig/libs/base/include/mrpt/math/eigen_frwds.h
++++ mrpt-1.3.0/libs/base/include/mrpt/math/eigen_frwds.h
+@@ -11,26 +11,10 @@
+ // Eigen forward declarations:
+ #include <mrpt/config.h>
+ 
+-#include <Eigen/src/Core/util/DisableStupidWarnings.h>
+-#include <Eigen/src/Core/util/Macros.h>
+-#include <complex> // Needed by hdrs below
+-
+-#define STAGE99_NO_EIGEN2_SUPPORT           99
+-#define EIGEN2_SUPPORT_STAGE STAGE99_NO_EIGEN2_SUPPORT
+-
+-#if !EIGEN_VERSION_AT_LEAST(3,0,93)
++// Minimum Eigen fwrd-decls:
+ namespace Eigen {
+-#endif
+-// These headers were assumed to lie inside namespace Eigen{} in Eigen <=3.1.0
+-#	include <Eigen/src/Core/util/Constants.h>
+-#	include <Eigen/src/Core/util/ForwardDeclarations.h>
+-
+-#if !EIGEN_VERSION_AT_LEAST(3,0,93)
++  template<typename Derived> struct EigenBase;
+ }
+-#endif
+-
+-#undef STAGE99_NO_EIGEN2_SUPPORT
+-#undef EIGEN2_SUPPORT_STAGE
+ 
+ namespace mrpt
+ {
+--- mrpt-1.3.0.orig/libs/base/src/math/CHistogram.cpp
++++ mrpt-1.3.0/libs/base/src/math/CHistogram.cpp
+@@ -8,6 +8,8 @@
+    +---------------------------------------------------------------------------+ */
+ 
+ #include "base-precomp.h"  // Precompiled headers
++#include <mrpt/math/math_frwds.h>
++#include <Eigen/Dense>
+ 
+ #include <mrpt/math/CHistogram.h>
+ #include <mrpt/math/utils.h>
+--- mrpt-1.3.0.orig/libs/maps/include/mrpt/maps/CRandomFieldGridMap2D.h
++++ mrpt-1.3.0/libs/maps/include/mrpt/maps/CRandomFieldGridMap2D.h
+@@ -20,11 +20,8 @@
+ #include <mrpt/maps/COccupancyGridMap2D.h>
+ 
+ #include <mrpt/maps/link_pragmas.h>
+-
+-#if EIGEN_VERSION_AT_LEAST(3,1,0)
+-// #define EIGEN_YES_I_KNOW_SPARSE_MODULE_IS_NOT_STABLE_YET  // No need to for this macro in Eigen 3.1+
+-#	include <Eigen/Sparse>
+-#endif
++#include <Eigen/SparseCore>
++#include <Eigen/SparseCholesky>
+ 
+ namespace mrpt
+ {
+--- mrpt-1.3.0.orig/libs/maps/src/maps/CGasConcentrationGridMap2D.cpp
++++ mrpt-1.3.0/libs/maps/src/maps/CGasConcentrationGridMap2D.cpp
+@@ -8,7 +8,6 @@
+    +---------------------------------------------------------------------------+ */
+ 
+ #include "maps-precomp.h" // Precomp header
+-
+ #include <mrpt/maps/CGasConcentrationGridMap2D.h>
+ #include <mrpt/obs/CObservationGasSensors.h>
+ #include <mrpt/math/CMatrix.h>
diff -Nru mrpt-1.3.0/debian/patches/series mrpt-1.3.0/debian/patches/series
--- mrpt-1.3.0/debian/patches/series	1970-01-01 01:00:00.000000000 +0100
+++ mrpt-1.3.0/debian/patches/series	2015-09-25 20:50:12.000000000 +0200
@@ -0,0 +1 @@
+eigen3.patch
diff -Nru mrpt-1.3.0/debian/rules mrpt-1.3.0/debian/rules
--- mrpt-1.3.0/debian/rules	2015-01-18 01:33:07.000000000 +0100
+++ mrpt-1.3.0/debian/rules	2015-09-25 21:34:20.000000000 +0200
@@ -41,7 +41,7 @@
 
 
 %:
-	dh $@ --buildsystem=cmake
+	dh $@ --buildsystem=cmake --parallel
 
 override_dh_auto_build:
 	dh_auto_build -O--buildsystem=cmake -- # -j4