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In general, it would be good to provide the full verbose output (use a service like pastebin.com and post the link).

With your hint towards vtk5, I just noticed that there were some recent changes with the vtk5 formula, but I'm not sure if that is indeed the problem you are seeing. I would try the following:

brew update
brew tap --repair
brew uninstall vtk5
brew uninstall pcl
brew install pcl --HEAD

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