Setuptools lets us build packages in development mode. Run the setup script once, and only again if we have to compile any extension modules. http://peak.telecommunity.com/DevCenter/setuptools#develop-deploy-the-project-source-in-development-mode

Install setuptools

1. get the bootstrap script http://peak.telecommunity.com/dist/ez_setup.py

2. execute the script like in http://peak.telecommunity.com/DevCenter/setuptools#installing-setuptools

Install modules

PCL-Referencing

1. cd PCL/PCL-Referencing

2. python tsetup.py develop --install-dir=/PATH/TO/DEV/EGGS

Others

Repeat for PCL-Spatial, PCL-Data, PCL-Cartography, PCL-Mapping in that order, using the same install-dir for each.

The install-dir will need to be added to your Python path to use the development-mode packages. This is done by customizing the tests/runalltests.dist shell script for each package.