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Regarding that part related to 'I can't find the commands to know my PCL version', I'd like to help here. If you have installed your pcl using sudo apt-get install libpcl-dev, you can check it's version using dpkg and ldconfig as follows : 1) dpkg -s libpcl-dev -> this will give you the entire status and details of the package 2) ldconfig -p | grep libpcl -> this will show you all the .so files (libraries) with the name libpcl with their version numbers appended in front of it.

Cheers

Regarding that part related to 'I can't find the commands to know my PCL version', I'd like to help here. If you have installed your pcl using sudo apt-get install libpcl-dev, you can check it's version using dpkg and ldconfig as follows :
1) dpkg -s libpcl-dev -> this will give you the entire status and details of the package package
2) ldconfig -p | grep libpcl -> this will show you all the .so files (libraries) with the name libpcl with their version numbers appended in front of it.

Cheers