how to modify pcl code locally

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how to modify pcl code locally

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I need new features of Poisson Reconstruction for my project. Currently I have a copy of pcl source code, and usually modify code before including *.h and *.hpp individually. This doesn't work when the modification is deep inside the included source, for example surface/include/pcl/surface/3rdparty/poisson4/multi_grid_octree_data.hpp, and causes duplicate definition problem. How do you usually apply and test changes for your own project, without compiling and installing again? Thanks!