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libpcl-all doesn't appear to be a valid Ubuntu package.
Ubuntu packages are usually split into runtime packages which contain the shared libraries, and development packages, which contain the headers and build files, and have a -dev suffix.
I suspect you need to install the libpcl-1.7-all-dev package.
Note also that locally installed headers get installed into /usr/local/include, such as when building from source, but headers for system packages, installed through the package manager, are usually installed directly into /usr/include. (This helps make sure that the user doesn't mess with the package manager, and the package manager doesn't overwrite the user's files).
On my system, with libpcl-1.7-all-dev installed, the PCL headers are in /usr/include/pcl-1.7/pcl
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