Hello,There was a bug in libopenni0 that caused python-pcl to FTBFS on all armhf architectures. This has been fixed in libopenni0 1.5.4.0+dfsg-2. Please give back libopenni0 on armhf.
gb python-pcl_0.3.0~rc1+dfsg-4 . armhf Thanks.
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