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PCL is simply found through a find_package(PCL) macro:

% cmake ../ – -~v/^v~- pcl – + Because ROS_ROOT is not set in your environment. – Found wxWidgets: TRUE – + Found PCL version 1.1.0 – * You will STILL BUILD AN ECTO_PCL_ROS LIBRARY – * Which has ecto cell converters from sensor_msgs to point cloud – * That may be Dangerous, if your ecto_ros compiles against messages – * with the same name but different size, and both run in the same – * process simultaneously. – * See – Boost version: 1.40.0 – Found the following Boost libraries: – signals – thread

If not found you’ll get the standardish cmake error message:

-- + Searching for standalone PCL
CMake Warning at pcl/CMakeLists.txt:38 (find_package):
  Could not find module FindPCL.cmake or a configuration file for package

  Adjust CMAKE_MODULE_PATH to find FindPCL.cmake or set PCL_DIR to the
  directory containing a CMake configuration file for PCL.  The file will
  have one of the following names:


** Disabling build of ecto_pcl due to missing dependency PCL