g++ -m32 -g -O2 -Wall -L/lib -L/usr/lib -L/usr/local/lib <omitted> -lrt -ldl -lpthread -lpcican
Maybe... you have installed the shared library in /usr/lib64, but among the compiler options that directory is not specified as a search path. Have you tried to add the -L/usr/lib64 option in the compiler flags?
skipping incompatible /usr/lib/libpcican.so when searching for -lpcican
Moreover this error message can be triggered from a 32-bit version of libpcican in /usr/lib which is incompatible because it is an ELF 32-bit object, when a ELF 64-bit is expected. Just a guess.