looking at libpcl-surface1.14 from Debian unstable:

# readelf -d /usr/lib/x86_64-linux-gnu/libpcl_surface.so.1.14.0 | grep libvtk
 0x0000000000000001 (NEEDED)             Shared library: 
[libvtkFiltersModeling-9.3.so.1]
 0x0000000000000001 (NEEDED)             Shared library: 
[libvtkFiltersCore-9.3.so.1]
 0x0000000000000001 (NEEDED)             Shared library: 
[libvtkCommonExecutionModel-9.3.so.1]
 0x0000000000000001 (NEEDED)             Shared library: 
[libvtkCommonDataModel-9.3.so.1]
 0x0000000000000001 (NEEDED)             Shared library: 
[libvtkCommonCore-9.3.so.1]
 0x0000000000000001 (NEEDED)             Shared library: [libvtksys-9.3.so.1]

# objdump -CT /usr/lib/x86_64-linux-gnu/libpcl_surface.so.1.14.0 | grep -i vtk
0000000000000000      DF *UND*  0000000000000000  Base        
vtkSmartPointerBase::vtkSmartPointerBase(vtkObjectBase*, 
vtkSmartPointerBase::NoReference const&)
0000000000000000      DF *UND*  0000000000000000  Base        
vtkDataSetAttributes::SetScalars(vtkDataArray*)
0000000000000000      DF *UND*  0000000000000000  Base        
vtkLoopSubdivisionFilter::New()
0000000000000000      DF *UND*  0000000000000000  Base        
vtkDebugLeaksManager::vtkDebugLeaksManager()
0000000000000000      DF *UND*  0000000000000000  Base        
vtkSmartPointerBase::vtkSmartPointerBase(vtkObjectBase*)
0000000000000000      DF *UND*  0000000000000000  Base        
vtkObjectFactoryRegistryCleanup::vtkObjectFactoryRegistryCleanup()
[..]

So it is needed.

Btw. Depenedencies are automatically generated:
https://sources.debian.org/src/pcl/1.14.0%2Bdfsg-2/debian/control/#L282

** Changed in: pcl (Ubuntu)
       Status: New => Invalid

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https://bugs.launchpad.net/bugs/2054573

Title:
  pcl-surface vtk requirement

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