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0. Version
Ubuntu=18.04.5
PCL=1.8.1
python-pcl=0.3.0

In Ubuntu20, apt install PCL will automatically choose the latest 1.11 version, but python-pcl support only PCL<=1.9. So use Ubuntu 18 will make things easier

1. Install PCL

sudo apt install libpcl-dev

Test if PCL installed successfully by https://blog.csdn.net/QFJIZHI/article/details/102564645
Create pcl_test.cpp and CMakeList.txt , content in the link above. Cmake needed

cmake .
make -j8
./pcl_test

2. Disable 'Visualization' module of PCL
Because 'Visualization' module has dependency on VTK, and python-pcl has an absolute path of VTK, which is likely to raise error. Disabling 'Visualization' and use other 3D libraries for visualization might be a better choice.

Download or git clone python-pcl from https://github.com/strawlab/python-pcl
Open python-pcl/setup.py
Do the following changing: (choose according to your PCL version)

More error info and solution can be found in: https://blog.csdn.net/weixin_30565101/article/details/113669008 (Chinese)

3. Compile python-pcl
cd to '/python-pcl'

python setup.py install

4. Test python-pcl

pip list

#(See if `python-pcl` exists)

#(remember to cd out '/python-pcl' before the following)

python
>>>import pcl
>>>pcl.PointCloud()
<PointCloud of 0 points>