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Using libpcl-1.7.1 works for me.

I have downloaded and installed it from source: https://github.com/PointCloudLibrary/pcl/releases/tag/pcl-1.7.1

In rgbdslam's CMakeLists.txt change

find_package(PCL 1.7 REQUIRED COMPONENTS common io)

find_package(PCL 1.7.1 EXACT REQUIRED COMPONENTS common io)

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