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I found out the cause of the issue. I was getting the undefined reference issue because the PointT template argument I was using for OctreePointCloudSearch was included after the octree's header file. So it tried to instantiate the template using a class that didn't exist. Hence the reference errors.

I removed all the external pcl references from my header file and stuck to what the tutorial showed and it still compiles.

Thank you everyone for your help and time!