$ cd PCL/PCL-Core
$ sudo python setup.py install 

PCL-Core setup requires MapServer? header files. Since MapServer? does not install headers to any common location on your system, you must either 1) edit the setup.py file and set the correct path for the ms_home variable, or 2) specify extra include paths to the build_ext target.

$ sudo python setup.py build_ext -I MAPSERVER_DIR install