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I would start with the precompiled Groovy debs and then try to compile PCL and anything else you need on top of the deb-based install; you'll save yourself some time getting the base system set up.

I think PCL compiles fairly well on ARM, but you'll probably want to adjust the build flags. In particular, flags that enable SSE optimizations will fail because ARM doesn't have SSE, and you'll want to turn the number of parallel builds down to 1, because PCL tends to use a lot of memory when compiling.