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I think that part of the problem is that both perception_pcl/pcl and perception_pcl_addons/pcl_visualization produce libraries called "libpcl_visualization.so". The linker sees the version from perception_pcl/pcl first, so ignores the one from perception_pcl_addons/pcl_visualization.

I messed around with renaming the library from perception_pcl_addons/pcl_visualization to be libpcl_visualization_addons.so. That fixed the undefined variables, but pcd_viewer and pcd_viewer_simple both produce blank screens. Well, pcd_viewer_simple has the nice red, blue, green axes that follow the mouse, but that's all. The same .pcd files (from bag_to_pcd) worked fine on a colleague's CloudViewer from the PCL windows download (I'm on Ubuntu 11.04).