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First of all, I can't read your error very well, looks like some linker problems.

Not sure if helpful, I am using the experimental pcl 1.7, but this works for me:

using namespace pcl17;
NormalEstimation<PointXYZRGB, PointXYZRGBNormal> ne;

I tried to change PointXYZRGBNormal to Normal and got compiler errors instead of your linker error.

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