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use sudo apt-get install libpcl-dev

~~use~~ Try this,

sudo apt-get add-apt-repository ppa:sweptlaser/python3-pcl
sudo apt update
sudo apt install libpcl-devpython3-pcl

After you've done that then you should be able to run:

python3 -c 'import pcl'

and it will return with no error (as opposed to ModuleNotFoundError: No module named 'pcl').

Tested on:

Ubuntu 18.04 LTS

Python 3.6.9

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