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You need to move #define BOOST_BIND_NO_PLACEHOLDERS to before your #include statements.

When you include a header from a library that links against Boost (such as PCL), it checks to see if a BOOST_BIND_NO_PLACEHOLDERS macro exists. There is a condition in one of the Boost header files that optionally brings in Boost's placeholder types if this macro wasn't found. However, to disable this condition you need to define the macro before including any headers that bring in Boost headers.