diff --git a/recipes/pcl/all/conandata.yml b/recipes/pcl/all/conandata.yml
new file mode 100644
index 00000000000000..bd83c7f169bf95
--- /dev/null
+++ b/recipes/pcl/all/conandata.yml
@@ -0,0 +1,18 @@
+sources:
+  "1.13.1":
+    url: https://github.com/PointCloudLibrary/pcl/archive/refs/tags/pcl-1.13.1.tar.gz
+    sha256: 8ab98a9db371d822de0859084a375a74bdc7f31c96d674147710cf4101b79621
+patches:
+  "1.13.1":
+    - patch_file: "patches/0001-test.patch"
+      patch_description: "Update pcl CMake files to work with conan"
+      patch_type: "conan"
+    - patch_file: "patches/0001-KB-H020_avoid_pkgconfig_files.patch"
+      patch_description: "Disable pkgconfig files install to follow KB-H020 rule"
+      patch_type: "conan"
+    - patch_file: "patches/0001-ReportFixAboutMemoryConsumptionDuringBuild.patch"
+      patch_description: "Report fix from https://github.com/PointCloudLibrary/pcl/pull/5764"
+      patch_type: "conan"
+    - patch_file: "patches/0001-Add-Eigen3-Eigen-target-in-pcl_common-target.patch"
+      patch_description: "Report fix from https://github.com/PointCloudLibrary/pcl/pull/5764"
+      patch_type: "conan"
diff --git a/recipes/pcl/all/conanfile.py b/recipes/pcl/all/conanfile.py
new file mode 100644
index 00000000000000..9f740fe5b9a4ad
--- /dev/null
+++ b/recipes/pcl/all/conanfile.py
@@ -0,0 +1,240 @@
+from conan import ConanFile
+from conan.errors import ConanInvalidConfiguration
+from conan.tools.microsoft import check_min_vs, is_msvc
+from conan.tools.files import apply_conandata_patches, export_conandata_patches, get, copy, rmdir
+from conan.tools.build import check_min_cppstd
+from conan.tools.scm import Version
+from conan.tools.cmake import CMake, CMakeDeps, CMakeToolchain, cmake_layout
+from conan.tools.system import package_manager
+import os
+
+
+required_conan_version = ">=1.53.0"
+
+
+class PclConan(ConanFile):
+    name = "pcl"
+    description = "Point Cloud Library"
+    license = "BSD-3-Clause"
+    url = "https://github.com/conan-io/conan-center-index"
+    homepage = "https://github.com/PointCloudLibrary/pcl"
+    topics = ("computer vision", "point cloud", "pointcloud", "3d", "pcd", "ply", "stl", "ifs", "vtk")
+    package_type = "library"
+    settings = "os", "arch", "compiler", "build_type"
+    options = {
+        "shared": [True, False],
+        "fPIC": [True, False],
+        "with_openmp": [True, False],
+        "with_libusb": [True, False],
+        "with_png": [True, False],
+        "with_qhull": [True, False],
+        "with_vtk": [True, False],
+        "with_cuda": [True, False],
+        "with_pcap": [True, False],
+        "with_opengl": [True, False],
+        "with_tools": [True, False],
+        "with_apps": [True, False],
+    }
+    default_options = {
+        "shared": False,
+        "fPIC": True,
+        "with_openmp": False,
+        "with_libusb": False,
+        "with_png": True,
+        "with_qhull": True,
+        "with_vtk": False,
+        "with_cuda": False,
+        "with_pcap": False,
+        "with_opengl": False,
+        "with_tools": False,
+        "with_apps": False,
+    }
+
+    @property
+    def _min_cppstd(self):
+        return 17
+
+    # in case the project requires C++14/17/20/... the minimum compiler version should be listed
+    @property
+    def _compilers_minimum_version(self):
+        return {
+            "gcc": "7",
+            "clang": "7",
+            "apple-clang": "10",
+        }
+
+    def export_sources(self):
+        export_conandata_patches(self)
+
+    def config_options(self):
+        if self.settings.os == "Windows":
+            del self.options.fPIC
+
+    def configure(self):
+        if self.options.shared:
+            self.options.rm_safe("fPIC")
+
+    def layout(self):
+        cmake_layout(self, src_folder="src")
+
+    def system_requirements(self):
+        if self.options.with_vtk:
+            package_manager.Apt(self).install(["libvtk-dev"])
+            package_manager.Dnf(self).install(["vtk-devel"])
+            if self.settings.os == "Windows":
+                self.output.warn("On Windows VTK must be installed manually.")
+
+    def requirements(self):
+        self.requires("zlib/1.2.13")
+        # Transitive headers on boost because pcl/point_struct_traits.h:40:10: references boost/mpl/assert.hpp
+        self.requires("boost/1.82.0", transitive_headers=True)
+        self.requires("eigen/3.4.0", transitive_headers=True)
+        self.requires("flann/1.9.2")
+        if self.options.with_png:
+            self.requires("libpng/1.6.40")
+        if self.options.with_qhull:
+            self.requires("qhull/8.0.1")
+        if self.options.with_apps:
+            self.requires("qt/6.5.1")
+        if self.options.with_libusb:
+            self.requires("libusb/1.0.26")
+        if self.options.with_pcap:
+            self.requires("libpcap/1.10.4")
+        if self.options.with_opengl:
+            self.requires("opengl/system")
+
+    def validate(self):
+        # validate the minimum cpp standard supported. For C++ projects only
+        if self.settings.compiler.cppstd:
+            check_min_cppstd(self, self._min_cppstd)
+        check_min_vs(self, 191)
+        if not is_msvc(self):
+            minimum_version = self._compilers_minimum_version.get(str(self.settings.compiler), False)
+            if minimum_version and Version(self.settings.compiler.version) < minimum_version:
+                raise ConanInvalidConfiguration(
+                    f"{self.ref} requires C++{self._min_cppstd}, which your compiler does not support."
+                )
+
+    def source(self):
+        get(self, **self.conan_data["sources"][self.version], strip_root=True)
+
+    def generate(self):
+        tc = CMakeToolchain(self)
+        tc.variables["PCL_SHARED_LIBS"] = self.options.shared
+        tc.variables["WITH_OPENMP"] = self.options.with_openmp
+        tc.variables["WITH_LIBUSB"] = self.options.with_libusb
+        tc.variables["WITH_PNG"] = self.options.with_png
+        tc.variables["WITH_QHULL"] = self.options.with_qhull
+        tc.variables["WITH_VTK"] = self.options.with_vtk
+        tc.variables["WITH_CUDA"] = self.options.with_cuda
+        tc.variables["WITH_PCAP"] = self.options.with_pcap
+        tc.variables["WITH_OPENGL"] = self.options.with_opengl
+        tc.variables["BUILD_tools"] = self.options.with_tools
+        tc.variables["BUILD_apps"] = self.options.with_apps
+        tc.variables["BUILD_examples"] = True
+        tc.cache_variables["WITH_QT"] = self.options.with_apps
+        tc.generate()
+
+        tc = CMakeDeps(self)
+        tc.generate()
+
+    def _patch_sources(self):
+        apply_conandata_patches(self)
+
+    def build(self):
+        self._patch_sources()
+        cmake = CMake(self)
+        cmake.configure(variables={"PCL_ONLY_CORE_POINT_TYPES": "ON"})
+        cmake.build()
+
+    def package(self):
+        copy(self, pattern="LICENSE.txt", dst=os.path.join(self.package_folder, "licenses"), src=self.source_folder)
+        cmake = CMake(self)
+        cmake.install()
+
+        rmdir(self, os.path.join(self.package_folder, "share"))
+
+    @property
+    def _pcl_lib_components(self):
+        def usb():
+            return ["libusb::libusb"] if self.options.with_libusb else []
+        def png():
+            return ["libpng::libpng"] if self.options.with_png else []
+        def qhull():
+            return ["qhull::qhull"] if self.options.with_qhull else []
+
+        return {
+            "common": {"requires": ["eigen::eigen3", "boost::boost"]},
+            "kdtree": {"requires": ["common", "flann::flann"]},
+            "octree": {"requires": ["common"]},
+            "search": {"requires": ["common", "kdtree", "octree", "flann::flann"]},
+            "sample_consensus": {"requires": ["common", "search"]},
+            "filters": {"requires": ["common", "sample_consensus", "search", "kdtree", "octree"]},
+            "2d": {"requires": ["common", "filters"], "header_only": True},
+            "geometry": {"requires": ["common"], "header_only": True},
+            "io": {"requires": ["common", "octree", "zlib::zlib"] + png() + usb(), "extra_libs": ["io_ply"]},
+            "features": {"requires": ["common", "search", "kdtree", "octree", "filters", "2d"]},
+            "ml": {"requires": ["common"]},
+            "segmentation": {"requires": ["common", "geometry", "search", "sample_consensus", "kdtree", "octree", "features", "filters", "ml"]},
+            "surface": {"requires": ["common", "search", "kdtree", "octree"] + qhull()},
+            "registration": {"requires": ["common", "octree", "kdtree", "search", "sample_consensus", "features", "filters"]},
+            "keypoints": {"requires": ["common", "search", "kdtree", "octree", "features", "filters"]},
+            "tracking": {"requires": ["common", "search", "kdtree", "filters", "octree"]},
+            "recognition": {"requires": ["common", "io", "search", "kdtree", "octree", "features", "filters", "registration", "sample_consensus", "ml"]},
+            "stereo": {"requires": ["common", "io"]}
+        }
+
+    @property
+    def _version_suffix(self):
+        semver = Version(self.version)
+        return "{}.{}".format(semver.major, semver.minor)
+
+    def _lib_name(self, lib):
+        if self.settings.compiler == "msvc" and self.settings.build_type == "Debug":
+            return "pcl_{}d".format(lib)
+        return "pcl_{}".format(lib)
+    
+    def package_info(self):
+        self.cpp_info.names["cmake_find_package"] = "PCL"
+        self.cpp_info.names["cmake_find_package_multi"] = "PCL"
+
+        self.cpp_info.set_property("cmake_file_name", "PCL")
+        self.cpp_info.set_property("cmake_module_file_name", "PCL")
+        self.cpp_info.set_property("cmake_target_name", "PCL::PCL")
+
+        def _update_components(components):
+            for comp, values in components.items():
+                self.cpp_info.components[comp].names["cmake_find_package"] = comp
+                self.cpp_info.components[comp].names["cmake_find_package_multi"] = comp
+                self.cpp_info.components[comp].set_property("cmake_file_name", comp)
+                self.cpp_info.components[comp].set_property("cmake_module_file_name", comp)
+                self.cpp_info.components[comp].set_property("cmake_target_name", f"PCL::{comp}")
+
+                self.cpp_info.components[comp].names["pkg_config"] = "pcl_{}-{}".format(comp, self._version_suffix)
+                self.cpp_info.components[comp].set_property("pkg_config_name", "pcl_{}-{}".format(comp, self._version_suffix))
+
+                self.cpp_info.components[comp].includedirs = [os.path.join("include", "pcl-{}".format(self._version_suffix))]
+                if not values.get("header_only", False):
+                    libs = [comp] + values.get("extra_libs", [])
+                    self.cpp_info.components[comp].libs = [self._lib_name(lib) for lib in libs]
+                self.cpp_info.components[comp].requires = values["requires"]
+
+        _update_components(self._pcl_lib_components)
+
+        if not self.options.shared:
+            if self.settings.os in ["Linux", "FreeBSD"]:
+                self.cpp_info.components["common"].system_libs.append("pthread")
+            if self.options.with_openmp:
+                if self.settings.os == "Linux":
+                    if self.settings.compiler == "gcc":
+                        self.cpp_info.components["common"].sharedlinkflags.append("-fopenmp")
+                        self.cpp_info.components["common"].exelinkflags.append("-fopenmp")
+                elif self.settings.os == "Windows":
+                    if self.settings.compiler == "msvc":
+                        self.cpp_info.components["common"].system_libs.append("delayimp")
+                    elif self.settings.compiler == "gcc":
+                        self.cpp_info.components["common"].system_libs.append("gomp")    
+
+        if self.options.with_apps:
+            self.cpp_info.components["apps"].libs = []
+            self.cpp_info.components["apps"].requires = ["qt::qt"]
diff --git a/recipes/pcl/all/patches/0001-Add-Eigen3-Eigen-target-in-pcl_common-target.patch b/recipes/pcl/all/patches/0001-Add-Eigen3-Eigen-target-in-pcl_common-target.patch
new file mode 100644
index 00000000000000..5dfeedf59e5f46
--- /dev/null
+++ b/recipes/pcl/all/patches/0001-Add-Eigen3-Eigen-target-in-pcl_common-target.patch
@@ -0,0 +1,25 @@
+From a975f68d2e399a1563fe0d66b2c048978f0282d1 Mon Sep 17 00:00:00 2001
+From: Esteban DUGUEPEROUX <esteban.dugueperoux@gmail.com>
+Date: Mon, 7 Aug 2023 23:50:12 +0200
+Subject: [PATCH] Add Eigen3::Eigen target in pcl_common target
+
+---
+ common/CMakeLists.txt | 2 +-
+ 1 file changed, 1 insertion(+), 1 deletion(-)
+
+diff --git a/common/CMakeLists.txt b/common/CMakeLists.txt
+index 48e1a202e..e0ced5241 100644
+--- a/common/CMakeLists.txt
++++ b/common/CMakeLists.txt
+@@ -179,7 +179,7 @@ target_include_directories(${LIB_NAME} PUBLIC
+   $<INSTALL_INTERFACE:include> 
+ )
+ 
+-target_link_libraries(${LIB_NAME} Boost::boost)
++target_link_libraries(${LIB_NAME} Boost::boost Eigen3::Eigen)
+ 
+ if(MSVC AND NOT (MSVC_VERSION LESS 1915))
+   # MSVC resolved a byte alignment issue in compiler version 15.9
+-- 
+2.41.0
+
diff --git a/recipes/pcl/all/patches/0001-KB-H020_avoid_pkgconfig_files.patch b/recipes/pcl/all/patches/0001-KB-H020_avoid_pkgconfig_files.patch
new file mode 100644
index 00000000000000..4397cd3de043a3
--- /dev/null
+++ b/recipes/pcl/all/patches/0001-KB-H020_avoid_pkgconfig_files.patch
@@ -0,0 +1,12 @@
+--- a/cmake/pcl_targets.cmake
++++ b/cmake/pcl_targets.cmake
+@@ -571,9 +571,6 @@ function(PCL_MAKE_PKGCONFIG _name)
+   else()
+     configure_file(${PROJECT_SOURCE_DIR}/cmake/pkgconfig.cmake.in ${_pc_file} @ONLY)
+   endif()
+-  install(FILES ${_pc_file}
+-          DESTINATION ${PKGCFG_INSTALL_DIR}
+-          COMPONENT pcl_${ARGS_COMPONENT})
+ endfunction()
+ 
+ ###############################################################################
diff --git a/recipes/pcl/all/patches/0001-ReportFixAboutMemoryConsumptionDuringBuild.patch b/recipes/pcl/all/patches/0001-ReportFixAboutMemoryConsumptionDuringBuild.patch
new file mode 100644
index 00000000000000..fe10ff7c3f6c47
--- /dev/null
+++ b/recipes/pcl/all/patches/0001-ReportFixAboutMemoryConsumptionDuringBuild.patch
@@ -0,0 +1,19 @@
+--- a/surface/src/mls.cpp
++++ b/surface/src/mls.cpp
+@@ -80,6 +80,15 @@ pcl::MLSResult::calculatePrincipalCurvatures (const double u, const double v) co
+   PCL_INSTANTIATE_PRODUCT(MovingLeastSquares, ((pcl::PointXYZ)(pcl::PointXYZI)(pcl::PointXYZRGB)(pcl::PointXYZRGBA)(pcl::PointXYZRGBNormal)(pcl::PointNormal))
+                                               ((pcl::PointXYZ)(pcl::PointXYZI)(pcl::PointXYZRGB)(pcl::PointXYZRGBA)(pcl::PointXYZRGBNormal)(pcl::PointNormal)))
+ #else
+-  PCL_INSTANTIATE_PRODUCT(MovingLeastSquares, (PCL_XYZ_POINT_TYPES)(PCL_XYZ_POINT_TYPES))
++  // PCL_INSTANTIATE_PRODUCT(MovingLeastSquares, (PCL_XYZ_POINT_TYPES)(PCL_XYZ_POINT_TYPES))
++  // All instantiations that are available with PCL_ONLY_CORE_POINT_TYPES, plus instantiations for all XYZ types where PointInT and PointOutT are the same
++  #define PCL_INSTANTIATE_MovingLeastSquaresSameInAndOut(T) template class PCL_EXPORTS pcl::MovingLeastSquares<T,T>;
++  PCL_INSTANTIATE(MovingLeastSquaresSameInAndOut, PCL_XYZ_POINT_TYPES)
++  PCL_INSTANTIATE_PRODUCT(MovingLeastSquares, ((pcl::PointXYZ))((pcl::PointXYZI)(pcl::PointXYZRGB)(pcl::PointXYZRGBA)(pcl::PointXYZRGBNormal)(pcl::PointNormal)))
++  PCL_INSTANTIATE_PRODUCT(MovingLeastSquares, ((pcl::PointXYZI))((pcl::PointXYZ)(pcl::PointXYZRGB)(pcl::PointXYZRGBA)(pcl::PointXYZRGBNormal)(pcl::PointNormal)))
++  PCL_INSTANTIATE_PRODUCT(MovingLeastSquares, ((pcl::PointXYZRGB))((pcl::PointXYZ)(pcl::PointXYZI)(pcl::PointXYZRGBA)(pcl::PointXYZRGBNormal)(pcl::PointNormal)))
++  PCL_INSTANTIATE_PRODUCT(MovingLeastSquares, ((pcl::PointXYZRGBA))((pcl::PointXYZ)(pcl::PointXYZI)(pcl::PointXYZRGB)(pcl::PointXYZRGBNormal)(pcl::PointNormal)))
++  PCL_INSTANTIATE_PRODUCT(MovingLeastSquares, ((pcl::PointXYZRGBNormal))((pcl::PointXYZ)(pcl::PointXYZI)(pcl::PointXYZRGB)(pcl::PointXYZRGBA)(pcl::PointNormal)))
++  PCL_INSTANTIATE_PRODUCT(MovingLeastSquares, ((pcl::PointNormal))((pcl::PointXYZ)(pcl::PointXYZI)(pcl::PointXYZRGB)(pcl::PointXYZRGBA)(pcl::PointXYZRGBNormal)))
+ #endif
+ #endif    // PCL_NO_PRECOMPILE
diff --git a/recipes/pcl/all/patches/0001-test.patch b/recipes/pcl/all/patches/0001-test.patch
new file mode 100644
index 00000000000000..230d3dd37c3aba
--- /dev/null
+++ b/recipes/pcl/all/patches/0001-test.patch
@@ -0,0 +1,217 @@
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -31,7 +31,7 @@ if(MSVC AND ("${MSVC_VERSION}" LESS 1910))
+ endif()
+ 
+ ### ---[ Find universal dependencies
+-set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake/Modules/" ${CMAKE_MODULE_PATH})
++# set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake/Modules/" ${CMAKE_MODULE_PATH})
+ 
+ # ---[ Include pkgconfig
+ include(FindPkgConfig)
+@@ -319,11 +319,13 @@ endif()
+ find_package(Threads REQUIRED)
+ 
+ # Eigen (required)
+-find_package(Eigen 3.3 REQUIRED)
++find_package(Eigen3 REQUIRED)
++string(TOUPPER "${CMAKE_BUILD_TYPE}" UPPER_CMAKE_BUILD_TYPE)
++set(EIGEN_INCLUDE_DIRS ${eigen_INCLUDE_DIRS_${UPPER_CMAKE_BUILD_TYPE}})
+ include_directories(SYSTEM ${EIGEN_INCLUDE_DIRS})
+ 
+ # FLANN (required)
+-find_package(FLANN 1.9.1 REQUIRED)
++find_package(flann 1.9.1 REQUIRED)
+ if(NOT (${FLANN_LIBRARY_TYPE} MATCHES ${PCL_FLANN_REQUIRED_TYPE}) AND NOT (${PCL_FLANN_REQUIRED_TYPE} MATCHES "DONTCARE"))
+   message(FATAL_ERROR "Flann was selected with ${PCL_FLANN_REQUIRED_TYPE} but found as ${FLANN_LIBRARY_TYPE}")
+ endif()
+--- a/PCLConfig.cmake.in
++++ b/PCLConfig.cmake.in
+@@ -670,8 +670,8 @@ pcl_remove_duplicate_libraries(PCL_COMPONENTS PCL_LIBRARIES)
+ 
+ # Add 3rd party libraries, as user code might include our .HPP implementations
+ list(APPEND PCL_LIBRARIES ${PCL_BOOST_LIBRARIES} ${PCL_OPENNI_LIBRARIES} ${PCL_OPENNI2_LIBRARIES} ${PCL_ENSENSO_LIBRARIES} ${PCL_davidSDK_LIBRARIES} ${PCL_DSSDK_LIBRARIES} ${PCL_RSSDK_LIBRARIES} ${PCL_RSSDK2_LIBRARIES} ${PCL_VTK_LIBRARIES})
+-if (TARGET FLANN::FLANN)
+-  list(APPEND PCL_LIBRARIES FLANN::FLANN)
++if (TARGET flann::flann)
++  list(APPEND PCL_LIBRARIES flann::flann)
+ endif()
+ 
+ if(TARGET QHULL::QHULL)
+--- a/apps/3d_rec_framework/CMakeLists.txt
++++ b/apps/3d_rec_framework/CMakeLists.txt
+@@ -98,7 +98,7 @@ endif()
+ 
+ PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSUBSYS_NAME} DESC ${SUBSUBSYS_DESC})
+ 
+-if(QHULL_FOUND)
++if(Qhull_FOUND)
+   add_executable(pcl_global_classification src/tools/global_classification.cpp)
+   target_link_libraries(pcl_global_classification pcl_apps pcl_3d_rec_framework pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_sample_consensus pcl_surface)
+ endif()
+--- a/apps/CMakeLists.txt
++++ b/apps/CMakeLists.txt
+@@ -61,7 +61,7 @@ if(VTK_FOUND)
+   PCL_ADD_EXECUTABLE(pcl_pcd_organized_multi_plane_segmentation COMPONENT ${SUBSYS_NAME} SOURCES src/pcd_organized_multi_plane_segmentation.cpp)
+   target_link_libraries(pcl_pcd_organized_multi_plane_segmentation pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_features)
+ 
+-  if(QHULL_FOUND)
++  if(Qhull_FOUND)
+     PCL_ADD_EXECUTABLE(pcl_pcd_select_object_plane COMPONENT ${SUBSYS_NAME} SOURCES src/pcd_select_object_plane.cpp)
+     target_link_libraries(pcl_pcd_select_object_plane pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_features pcl_surface)
+   endif()
+@@ -185,7 +185,7 @@ if(VTK_FOUND)
+ 
+     endif()
+ 
+-    if(QHULL_FOUND)
++    if(Qhull_FOUND)
+     PCL_ADD_EXECUTABLE(pcl_openni_3d_convex_hull COMPONENT ${SUBSYS_NAME} SOURCES src/openni_3d_convex_hull.cpp BUNDLE)
+     target_link_libraries(pcl_openni_3d_convex_hull pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_sample_consensus pcl_features pcl_surface)
+ 
+@@ -200,7 +200,7 @@ if(VTK_FOUND)
+ 
+     PCL_ADD_EXECUTABLE(pcl_ni_linemod COMPONENT ${SUBSYS_NAME} SOURCES src/ni_linemod.cpp BUNDLE)
+     target_link_libraries(pcl_ni_linemod pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_sample_consensus pcl_features pcl_surface pcl_search)
+-    endif() # QHULL_FOUND
++    endif() # Qhull_FOUND
+ 
+     PCL_ADD_EXECUTABLE(pcl_ni_agast COMPONENT ${SUBSYS_NAME} SOURCES src/ni_agast.cpp BUNDLE)
+     target_link_libraries(pcl_ni_agast pcl_common pcl_io pcl_filters pcl_visualization pcl_segmentation pcl_sample_consensus pcl_features pcl_keypoints pcl_surface pcl_search)
+@@ -241,7 +241,7 @@ foreach(subdir ${PCL_APPS_MODULES_DIRS})
+ add_subdirectory("${CMAKE_CURRENT_SOURCE_DIR}/${subdir}")
+ endforeach()
+ 
+-if(QHULL_FOUND)
++if(Qhull_FOUND)
+   set(incs
+     "include/pcl/${SUBSYS_NAME}/dominant_plane_segmentation.h"
+     "include/pcl/${SUBSYS_NAME}/timer.h"
+--- a/cmake/pcl_targets.cmake
++++ b/cmake/pcl_targets.cmake
+@@ -126,7 +126,8 @@ macro(PCL_SUBSYS_DEPEND _var)
+     endif()
+     if(ARGS_EXT_DEPS)
+       foreach(_dep ${ARGS_EXT_DEPS})
+-        string(TOUPPER "${_dep}_found" EXT_DEP_FOUND)
++        set(EXT_DEP_FOUND "${_dep}_FOUND")
++        message(STATUS "EXT_DEP_FOUND: ${EXT_DEP_FOUND}")
+         #Variable EXT_DEP_FOUND expands to ie. QHULL_FOUND which in turn is then used to see if the EXT_DEPS is found.
+         if(NOT ${EXT_DEP_FOUND})
+           set(${_var} FALSE)
+--- a/common/CMakeLists.txt
++++ b/common/CMakeLists.txt
+@@ -4,7 +4,7 @@ set(SUBSYS_DEPS)
+ 
+ set(build TRUE)
+ PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
+-PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} EXT_DEPS eigen boost)
++PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} EXT_DEPS Eigen3 Boost)
+ 
+ PCL_ADD_DOC("${SUBSYS_NAME}")
+ 
+--- a/doc/tutorials/content/sources/vfh_recognition/CMakeLists.txt
++++ b/doc/tutorials/content/sources/vfh_recognition/CMakeLists.txt
+@@ -16,7 +16,7 @@ include_directories(SYSTEM
+ 
+ add_executable(build_tree build_tree.cpp)
+ target_link_libraries(build_tree ${PCL_LIBRARIES} ${Boost_LIBRARIES}
+-                                 FLANN::FLANN ${HDF5_LIBRARIES})
++                                 flann::flann ${HDF5_LIBRARIES})
+ 
+ add_executable(nearest_neighbors nearest_neighbors.cpp)
+-target_link_libraries(nearest_neighbors ${PCL_LIBRARIES} ${Boost_LIBRARIES} FLANN::FLANN ${HDF5_LIBRARIES})
++target_link_libraries(nearest_neighbors ${PCL_LIBRARIES} ${Boost_LIBRARIES} flann::flann ${HDF5_LIBRARIES})
+--- a/io/CMakeLists.txt
++++ b/io/CMakeLists.txt
+@@ -1,7 +1,7 @@
+ set(SUBSYS_NAME io)
+ set(SUBSYS_DESC "Point cloud IO library")
+ set(SUBSYS_DEPS common octree)
+-set(SUBSYS_EXT_DEPS boost eigen)
++set(SUBSYS_EXT_DEPS Boost Eigen3)
+ 
+ set(build TRUE)
+ PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
+--- a/kdtree/CMakeLists.txt
++++ b/kdtree/CMakeLists.txt
+@@ -30,7 +30,7 @@ set(impl_incs
+ set(LIB_NAME "pcl_${SUBSYS_NAME}")
+ include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include")
+ PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${impl_incs})
+-target_link_libraries("${LIB_NAME}" pcl_common FLANN::FLANN)
++target_link_libraries("${LIB_NAME}" pcl_common flann::flann)
+ set(EXT_DEPS flann)
+ PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC} PCL_DEPS ${SUBSYS_DEPS} EXT_DEPS ${EXT_DEPS})
+ 
+--- a/search/CMakeLists.txt
++++ b/search/CMakeLists.txt
+@@ -41,7 +41,7 @@ set(impl_incs
+ set(LIB_NAME "pcl_${SUBSYS_NAME}")
+ include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include")
+ PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${impl_incs})
+-target_link_libraries("${LIB_NAME}" pcl_common FLANN::FLANN pcl_octree pcl_kdtree)
++target_link_libraries("${LIB_NAME}" pcl_common flann::flann pcl_octree pcl_kdtree)
+ list(APPEND EXT_DEPS flann)
+ PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC} PCL_DEPS ${SUBSYS_DEPS})
+ 
+--- a/surface/CMakeLists.txt
++++ b/surface/CMakeLists.txt
+@@ -12,7 +12,7 @@ if(NOT build)
+   return()
+ endif()
+ 
+-if(QHULL_FOUND)
++if(Qhull_FOUND)
+   set(HULL_INCLUDES
+     "include/pcl/${SUBSYS_NAME}/concave_hull.h"
+     "include/pcl/${SUBSYS_NAME}/convex_hull.h"
+@@ -192,8 +192,12 @@ if(VTK_FOUND)
+   endif()
+ endif()
+ 
+-if(QHULL_FOUND)
+-  target_link_libraries("${LIB_NAME}" QHULL::QHULL)
++if(Qhull_FOUND)
++  if(TARGET Qhull::qhull_r)
++    target_link_libraries("${LIB_NAME}" Qhull::qhull_r)
++  else()
++    target_link_libraries("${LIB_NAME}" Qhull::qhullstatic_r)
++  endif()
+ endif()
+ 
+ PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC} PCL_DEPS ${SUBSYS_DEPS})
+--- a/test/features/CMakeLists.txt
++++ b/test/features/CMakeLists.txt
+@@ -91,7 +91,7 @@ if(BUILD_io)
+                ARGUMENTS "${PCL_SOURCE_DIR}/test/bun0.pcd")
+   PCL_ADD_TEST(features_narf test_narf
+                FILES test_narf.cpp
+-               LINK_WITH pcl_gtest pcl_features FLANN::FLANN)
++               LINK_WITH pcl_gtest pcl_features flann::flann)
+   PCL_ADD_TEST(a_ii_normals_test test_ii_normals
+                FILES test_ii_normals.cpp
+                LINK_WITH pcl_gtest pcl_io pcl_features
+--- a/test/surface/CMakeLists.txt
++++ b/test/surface/CMakeLists.txt
+@@ -41,7 +41,7 @@ PCL_ADD_TEST(surface_poisson test_poisson
+              LINK_WITH pcl_gtest pcl_io pcl_kdtree pcl_surface pcl_features
+              ARGUMENTS "${PCL_SOURCE_DIR}/test/bun0.pcd")
+ 
+-if(QHULL_FOUND)
++if(Qhull_FOUND)
+   PCL_ADD_TEST(surface_convex_hull test_convex_hull
+                FILES test_convex_hull.cpp
+                LINK_WITH pcl_gtest pcl_io pcl_kdtree pcl_surface pcl_features pcl_filters pcl_search
+--- a/tools/CMakeLists.txt
++++ b/tools/CMakeLists.txt
+@@ -272,7 +272,7 @@ if(TARGET pcl_surface)
+   PCL_ADD_EXECUTABLE(pcl_poisson_reconstruction COMPONENT ${SUBSYS_NAME} SOURCES poisson_reconstruction.cpp)
+   target_link_libraries(pcl_poisson_reconstruction pcl_common pcl_io pcl_surface)
+ 
+-  if(QHULL_FOUND)
++  if(Qhull_FOUND)
+     PCL_ADD_EXECUTABLE(pcl_crop_to_hull COMPONENT ${SUBSYS_NAME} SOURCES crop_to_hull.cpp)
+     target_link_libraries(pcl_crop_to_hull pcl_common pcl_io pcl_filters pcl_surface)
+ 
+
diff --git a/recipes/pcl/all/test_package/CMakeLists.txt b/recipes/pcl/all/test_package/CMakeLists.txt
new file mode 100644
index 00000000000000..57794a612df2a9
--- /dev/null
+++ b/recipes/pcl/all/test_package/CMakeLists.txt
@@ -0,0 +1,10 @@
+cmake_minimum_required(VERSION 3.15)
+
+project(test_package CXX)
+
+find_package(PCL REQUIRED surface CONFIG)
+
+add_executable(${PROJECT_NAME} test_package.cpp)
+
+target_link_libraries(${PROJECT_NAME} PRIVATE PCL::filters)
+target_compile_features(${PROJECT_NAME} PRIVATE cxx_std_17)
diff --git a/recipes/pcl/all/test_package/conanfile.py b/recipes/pcl/all/test_package/conanfile.py
new file mode 100644
index 00000000000000..02eb5ce439fb40
--- /dev/null
+++ b/recipes/pcl/all/test_package/conanfile.py
@@ -0,0 +1,27 @@
+from conan import ConanFile
+from conan.tools.build import can_run
+from conan.tools.cmake import cmake_layout, CMake
+import os
+
+
+# It will become the standard on Conan 2.x
+class TestPackageConan(ConanFile):
+    settings = "os", "arch", "compiler", "build_type"
+    generators = "CMakeDeps", "CMakeToolchain", "VirtualRunEnv"
+    test_type = "explicit"
+
+    def requirements(self):
+        self.requires(self.tested_reference_str)
+
+    def layout(self):
+        cmake_layout(self)
+
+    def build(self):
+        cmake = CMake(self)
+        cmake.configure()
+        cmake.build()
+
+    def test(self):
+        if can_run(self):
+            bin_path = os.path.join(self.cpp.build.bindir, "test_package")
+            self.run(bin_path, env="conanrun")
diff --git a/recipes/pcl/all/test_package/test_package.cpp b/recipes/pcl/all/test_package/test_package.cpp
new file mode 100644
index 00000000000000..cca717d08eb8f6
--- /dev/null
+++ b/recipes/pcl/all/test_package/test_package.cpp
@@ -0,0 +1,73 @@
+// Copied from https://github.com/PointCloudLibrary/pcl/blob/pcl-1.13.1/examples/filters/example_extract_indices.cpp
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Point Cloud Library (PCL) - www.pointclouds.org
+ * Copyright (c) 2009-2011, Willow Garage, Inc.
+ *
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * * Redistributions of source code must retain the above copyright
+ *   notice, this list of conditions and the following disclaimer.
+ * * Redistributions in binary form must reproduce the above
+ *   copyright notice, this list of conditions and the following
+ *   disclaimer in the documentation and/or other materials provided
+ *   with the distribution.
+ * * Neither the name of Willow Garage, Inc. nor the names of its
+ *   contributors may be used to endorse or promote products derived
+ *   from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * $Id: example_ExtractIndices.cpp 4117 2012-01-31 17:56:02Z aichim $
+ *
+ */
+
+#include <iostream>
+
+#include <pcl/filters/extract_indices.h>
+
+int
+main (int, char**)
+{
+  using PointType = pcl::PointXYZ;
+  using CloudType = pcl::PointCloud<PointType>;
+  CloudType::Ptr cloud (new CloudType);
+  cloud->is_dense = false;
+  PointType p;
+  for (unsigned int i = 0; i < 5; ++i)
+  {
+    p.x = p.y = p.z = static_cast<float> (i);
+    cloud->push_back (p);
+  }
+
+  std::cout << "Cloud has " << cloud->size () << " points." << std::endl;
+
+  pcl::PointIndices indices;
+  indices.indices.push_back (0);
+  indices.indices.push_back (2);
+
+  pcl::ExtractIndices<PointType> extract_indices;
+  extract_indices.setIndices (pcl::make_shared<const pcl::PointIndices> (indices));
+  extract_indices.setInputCloud (cloud);
+  pcl::PointCloud<pcl::PointXYZ>::Ptr output (new pcl::PointCloud<pcl::PointXYZ>);
+  extract_indices.filter (*output);
+
+  std::cout << "Output has " << output->size () << " points." << std::endl;
+  return (0);
+}
diff --git a/recipes/pcl/config.yml b/recipes/pcl/config.yml
new file mode 100644
index 00000000000000..aac1819cc10c01
--- /dev/null
+++ b/recipes/pcl/config.yml
@@ -0,0 +1,3 @@
+versions:
+  "1.13.1":
+    folder: all