diff --git a/recipes/pcl/all/conandata.yml b/recipes/pcl/all/conandata.yml
new file mode 100644
index 00000000000000..68d7c41b647077
--- /dev/null
+++ b/recipes/pcl/all/conandata.yml
@@ -0,0 +1,9 @@
+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-flann-target-cmake.patch"
+      patch_description: "Use flann::flann instead of FLANN::FLANN target generated by CMakeDeps"
+      patch_type: "conan"
diff --git a/recipes/pcl/all/conanfile.py b/recipes/pcl/all/conanfile.py
new file mode 100644
index 00000000000000..79246a5d778f29
--- /dev/null
+++ b/recipes/pcl/all/conanfile.py
@@ -0,0 +1,224 @@
+from conan import ConanFile
+from conan.errors import ConanInvalidConfiguration
+from conan.tools.microsoft import check_min_vs, is_msvc_static_runtime, is_msvc
+from conan.tools.files import apply_conandata_patches, export_conandata_patches, get, copy, rm, rmdir, replace_in_file
+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.env import VirtualBuildEnv
+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", "pcl", "pointcloud")
+    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_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_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 requirements(self):
+        self.requires("boost/1.82.0")
+        self.requires("eigen/3.3.9")
+        self.requires("flann/1.9.2")
+        if self.options.with_png:
+            self.requires("libpng/1.6.39")
+        if self.options.with_qhull:
+            self.requires("qhull/8.0.1")
+        if self.options.with_apps:
+            self.requires("qt/6.5.0")
+        if self.options.with_libusb:
+            self.requires("libusb/1.0.26")
+
+    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."
+                )
+        # in case it does not work in another configuration, it should validated here too
+        if is_msvc(self) and self.options.shared:
+            raise ConanInvalidConfiguration(f"{self.ref} can not be built as shared on Visual Studio and msvc.")
+
+    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_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.cache_variables["WITH_QT"] = self.options.with_apps
+        tc.cache_variables["WITH_VTK"] = False
+        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()
+        cmake.build()
+
+    def package(self):
+        copy(self, pattern="LICENSE", dst=os.path.join(self.package_folder, "licenses"), src=self.source_folder)
+        cmake = CMake(self)
+        cmake.install()
+
+    @property
+    def _pcl_lib_components(self):
+        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"] + png(), "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-flann-target-cmake.patch b/recipes/pcl/all/patches/0001-flann-target-cmake.patch
new file mode 100644
index 00000000000000..f30f46451f98fa
--- /dev/null
+++ b/recipes/pcl/all/patches/0001-flann-target-cmake.patch
@@ -0,0 +1,298 @@
+--- 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)
+diff --git a/cmake/Modules/FindFLANN.cmake b/cmake/Modules/FindFLANN.cmake
+deleted file mode 100644
+index 16ee72fbe..000000000
+--- a/cmake/Modules/FindFLANN.cmake
++++ /dev/null
+@@ -1,223 +0,0 @@
+-#.rst:
+-# FindFLANN
+-# --------
+-#
+-# Try to find FLANN library and headers. This module supports both old released versions
+-# of FLANN ≤ 1.9.1 and newer development versions that ship with a modern config file.
+-#
+-# IMPORTED Targets
+-# ^^^^^^^^^^^^^^^^
+-#
+-# This module defines the :prop_tgt:`IMPORTED` targets:
+-#
+-# ``FLANN::FLANN``
+-#  Defined if the system has FLANN.
+-#
+-# Result Variables
+-# ^^^^^^^^^^^^^^^^
+-#
+-# This module sets the following variables:
+-#
+-# ::
+-#
+-#   FLANN_FOUND               True in case FLANN is found, otherwise false
+-#   FLANN_ROOT                Path to the root of found FLANN installation
+-#
+-# Example usage
+-# ^^^^^^^^^^^^^
+-#
+-# ::
+-#
+-#     find_package(FLANN REQUIRED)
+-#
+-#     add_executable(foo foo.cc)
+-#     target_link_libraries(foo FLANN::FLANN)
+-#
+-
+-# Early return if FLANN target is already defined. This makes it safe to run
+-# this script multiple times.
+-if(TARGET FLANN::FLANN)
+-  set(FLANN_FOUND ON)
+-  return()
+-endif()
+-
+-# First try to locate FLANN using modern config
+-find_package(flann NO_MODULE ${FLANN_FIND_VERSION} QUIET)
+-
+-if(flann_FOUND)
+-  unset(flann_FOUND)
+-  set(FLANN_FOUND ON)
+-
+-  # Create interface library that effectively becomes an alias for the appropriate (static/dynamic) imported FLANN target
+-  add_library(FLANN::FLANN INTERFACE IMPORTED)
+-
+-  if(TARGET flann::flann_cpp_s AND TARGET flann::flann_cpp)
+-    if(PCL_FLANN_REQUIRED_TYPE MATCHES "SHARED")
+-      set_property(TARGET FLANN::FLANN APPEND PROPERTY INTERFACE_LINK_LIBRARIES flann::flann_cpp)
+-      set(FLANN_LIBRARY_TYPE SHARED)
+-    elseif(PCL_FLANN_REQUIRED_TYPE MATCHES "STATIC")
+-      set_property(TARGET FLANN::FLANN APPEND PROPERTY INTERFACE_LINK_LIBRARIES flann::flann_cpp_s)
+-      set(FLANN_LIBRARY_TYPE STATIC)
+-    else()
+-      if(PCL_SHARED_LIBS)
+-        set_property(TARGET FLANN::FLANN APPEND PROPERTY INTERFACE_LINK_LIBRARIES flann::flann_cpp)
+-        set(FLANN_LIBRARY_TYPE SHARED)
+-      else()
+-        set_property(TARGET FLANN::FLANN APPEND PROPERTY INTERFACE_LINK_LIBRARIES flann::flann_cpp_s)
+-        set(FLANN_LIBRARY_TYPE STATIC)
+-      endif()
+-    endif()
+-  elseif(TARGET flann::flann_cpp_s)
+-    set_property(TARGET FLANN::FLANN APPEND PROPERTY INTERFACE_LINK_LIBRARIES flann::flann_cpp_s)
+-    set(FLANN_LIBRARY_TYPE STATIC)
+-  else()
+-    set_property(TARGET FLANN::FLANN APPEND PROPERTY INTERFACE_LINK_LIBRARIES flann::flann_cpp)
+-    set(FLANN_LIBRARY_TYPE SHARED)
+-  endif()
+-
+-  # Determine FLANN installation root based on the path to the processed Config file
+-  get_filename_component(_config_dir "${flann_CONFIG}" DIRECTORY)
+-  get_filename_component(FLANN_ROOT "${_config_dir}/../../.." ABSOLUTE)
+-  unset(_config_dir)
+-  message(STATUS "Found flann version ${flann_VERSION}")
+-  return()
+-endif()
+-
+-# Second try to locate FLANN using pkgconfig
+-find_package(PkgConfig QUIET)
+-if(FLANN_FIND_VERSION)
+-  pkg_check_modules(PC_FLANN flann>=${FLANN_FIND_VERSION})
+-else()
+-  pkg_check_modules(PC_FLANN flann)
+-endif()
+-
+-find_path(FLANN_INCLUDE_DIR
+-  NAMES
+-    flann/flann.hpp
+-  HINTS
+-    ${PC_FLANN_INCLUDE_DIRS}
+-    ${FLANN_ROOT}
+-    $ENV{FLANN_ROOT}
+-  PATHS
+-    $ENV{PROGRAMFILES}/Flann
+-    $ENV{PROGRAMW6432}/Flann
+-  PATH_SUFFIXES
+-    include
+-)
+-
+-find_library(FLANN_LIBRARY_SHARED
+-  NAMES
+-    flann_cpp
+-  HINTS
+-    ${PC_FLANN_LIBRARY_DIRS}
+-    ${FLANN_ROOT}
+-    $ENV{FLANN_ROOT}
+-  PATHS
+-    $ENV{PROGRAMFILES}/Flann
+-    $ENV{PROGRAMW6432}/Flann
+-  PATH_SUFFIXES
+-    lib
+-)
+-
+-find_library(FLANN_LIBRARY_DEBUG_SHARED
+-  NAMES
+-    flann_cpp-gd flann_cppd
+-  HINTS
+-    ${PC_FLANN_LIBRARY_DIRS}
+-    ${FLANN_ROOT}
+-    $ENV{FLANN_ROOT}
+-  PATHS
+-    $ENV{PROGRAMFILES}/Flann
+-    $ENV{PROGRAMW6432}/Flann
+-  PATH_SUFFIXES
+-    lib
+-)
+-
+-find_library(FLANN_LIBRARY_STATIC
+-  NAMES
+-    flann_cpp_s
+-  HINTS
+-    ${PC_FLANN_LIBRARY_DIRS}
+-    ${FLANN_ROOT}
+-    $ENV{FLANN_ROOT}
+-  PATHS
+-    $ENV{PROGRAMFILES}/Flann
+-    $ENV{PROGRAMW6432}/Flann
+-  PATH_SUFFIXES
+-    lib
+-)
+-
+-find_library(FLANN_LIBRARY_DEBUG_STATIC
+-  NAMES
+-    flann_cpp_s-gd flann_cpp_sd
+-  HINTS
+-    ${PC_FLANN_LIBRARY_DIRS}
+-    ${FLANN_ROOT}
+-    $ENV{FLANN_ROOT}
+-  PATHS
+-    $ENV{PROGRAMFILES}/Flann
+-    $ENV{PROGRAMW6432}/Flann
+-  PATH_SUFFIXES
+-    lib
+-)
+-
+-if(FLANN_LIBRARY_SHARED AND FLANN_LIBRARY_STATIC)
+-  if(PCL_FLANN_REQUIRED_TYPE MATCHES "SHARED")
+-    set(FLANN_LIBRARY_TYPE SHARED)
+-    set(FLANN_LIBRARY ${FLANN_LIBRARY_SHARED})
+-  elseif(PCL_FLANN_REQUIRED_TYPE MATCHES "STATIC")
+-    set(FLANN_LIBRARY_TYPE STATIC)
+-    set(FLANN_LIBRARY ${FLANN_LIBRARY_STATIC})
+-  else()
+-    if(PCL_SHARED_LIBS)
+-      set(FLANN_LIBRARY_TYPE SHARED)
+-      set(FLANN_LIBRARY ${FLANN_LIBRARY_SHARED})
+-    else()
+-      set(FLANN_LIBRARY_TYPE STATIC)
+-      set(FLANN_LIBRARY ${FLANN_LIBRARY_STATIC})
+-    endif()
+-  endif()
+-elseif(FLANN_LIBRARY_STATIC)
+-  set(FLANN_LIBRARY_TYPE STATIC)
+-  set(FLANN_LIBRARY ${FLANN_LIBRARY_STATIC})
+-elseif(FLANN_LIBRARY_SHARED)
+-  set(FLANN_LIBRARY_TYPE SHARED)
+-  set(FLANN_LIBRARY ${FLANN_LIBRARY_SHARED})
+-endif()
+-
+-include(FindPackageHandleStandardArgs)
+-find_package_handle_standard_args(
+-  FLANN DEFAULT_MSG
+-  FLANN_LIBRARY FLANN_INCLUDE_DIR
+-)
+-
+-if(FLANN_FOUND)
+-  add_library(FLANN::FLANN ${FLANN_LIBRARY_TYPE} IMPORTED)
+-  set_target_properties(FLANN::FLANN PROPERTIES INTERFACE_INCLUDE_DIRECTORIES "${FLANN_INCLUDE_DIR}")
+-  set_target_properties(FLANN::FLANN PROPERTIES INTERFACE_COMPILE_DEFINITIONS "${PC_FLANN_CFLAGS_OTHER}")
+-  set_property(TARGET FLANN::FLANN APPEND PROPERTY IMPORTED_CONFIGURATIONS "RELEASE")
+-  set_target_properties(FLANN::FLANN PROPERTIES IMPORTED_LINK_INTERFACE_LANGUAGES_RELEASE "CXX")
+-  if(WIN32 AND (NOT FLANN_LIBRARY_TYPE MATCHES "STATIC"))
+-    set_target_properties(FLANN::FLANN PROPERTIES IMPORTED_IMPLIB_RELEASE "${FLANN_LIBRARY}")
+-  else()
+-    set_target_properties(FLANN::FLANN PROPERTIES IMPORTED_LOCATION_RELEASE "${FLANN_LIBRARY}")
+-  endif()
+-  if(FLANN_LIBRARY_DEBUG)
+-    set_property(TARGET FLANN::FLANN APPEND PROPERTY IMPORTED_CONFIGURATIONS "DEBUG")
+-    set_target_properties(FLANN::FLANN PROPERTIES IMPORTED_LINK_INTERFACE_LANGUAGES_DEBUG "CXX")
+-    if(WIN32 AND (NOT FLANN_LIBRARY_TYPE MATCHES "STATIC"))
+-      set_target_properties(FLANN::FLANN PROPERTIES IMPORTED_IMPLIB_DEBUG "${FLANN_LIBRARY_DEBUG}")
+-    else()
+-      set_target_properties(FLANN::FLANN PROPERTIES IMPORTED_LOCATION_DEBUG "${FLANN_LIBRARY_DEBUG}")
+-    endif()
+-  endif()
+-  # Pkgconfig may specify additional link libraries besides from FLANN itself
+-  # in PC_FLANN_LIBRARIES, add them to the target link interface.
+-  foreach(_library ${PC_FLANN_LIBRARIES})
+-    if(NOT _library MATCHES "flann")
+-      set_property(TARGET FLANN::FLANN APPEND PROPERTY INTERFACE_LINK_LIBRARIES "${_library}")
+-    endif()
+-  endforeach()
+-  get_filename_component(FLANN_ROOT "${FLANN_INCLUDE_DIR}" PATH)
+-  message(STATUS "FLANN found (include: ${FLANN_INCLUDE_DIR}, lib: ${FLANN_LIBRARY})")
+-endif()
+diff --git a/doc/tutorials/content/sources/vfh_recognition/CMakeLists.txt b/doc/tutorials/content/sources/vfh_recognition/CMakeLists.txt
+index 7c4a9f1f3..8261356a9 100644
+--- 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 ${HDF5_LIBRARIES})
+diff --git a/kdtree/CMakeLists.txt b/kdtree/CMakeLists.txt
+index d9c94bbe4..f96abcb67 100644
+--- a/kdtree/CMakeLists.txt
++++ b/kdtree/CMakeLists.txt
+@@ -30,7 +30,7 @@ set(impl_incs
+ set(LIB_NAME "pcl_${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 ${EXT_DEPS})
+ 
+diff --git a/search/CMakeLists.txt b/search/CMakeLists.txt
+index 0b93e5255..53b823809 100644
+--- a/search/CMakeLists.txt
++++ b/search/CMakeLists.txt
+@@ -41,7 +41,7 @@ set(impl_incs
+ set(LIB_NAME "pcl_${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 ${SUBSYS_DEPS})
+ 
+diff --git a/test/features/CMakeLists.txt b/test/features/CMakeLists.txt
+index 4dbab6e8b..e5014aa80 100644
+--- a/test/features/CMakeLists.txt
++++ b/test/features/CMakeLists.txt
+@@ -91,7 +91,7 @@ if(BUILD_io)
+                ARGUMENTS "${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
+-- 
+2.41.0
+
diff --git a/recipes/pcl/all/test_package/CMakeLists.txt b/recipes/pcl/all/test_package/CMakeLists.txt
new file mode 100644
index 00000000000000..6dcba1cf89b5cd
--- /dev/null
+++ b/recipes/pcl/all/test_package/CMakeLists.txt
@@ -0,0 +1,12 @@
+cmake_minimum_required(VERSION 3.15)
+
+project(test_package CXX)
+
+find_package(PCL REQUIRED surface CONFIG)
+
+add_executable(${PROJECT_NAME} test_package.cpp)
+target_compile_features(pcl_test_package PUBLIC cxx_std_14)
+target_link_libraries(pcl_test_package PRIVATE PCL_SURFACE_LIBRARIES)
+
+target_link_libraries(${PROJECT_NAME} PRIVATE pcl::pcl)
+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..2ee1a089f9de2f
--- /dev/null
+++ b/recipes/pcl/all/test_package/test_package.cpp
@@ -0,0 +1,27 @@
+#include <pcl/point_types.h>
+#include <pcl/point_cloud.h>
+#include <pcl/surface/convex_hull.h>
+
+#include <iostream>
+
+using PointCloud = pcl::PointCloud<pcl::PointXYZ>;
+
+int main() {
+
+    auto cloud = PointCloud::Ptr(new PointCloud);
+    cloud->emplace_back(-1, -1, 0);
+    cloud->emplace_back(1, -1, 0);
+    cloud->emplace_back(0, 1, 0);
+    cloud->emplace_back(0, 0, 1);
+
+    std::cout << "Calculating convex hull\n";
+
+    PointCloud hull_geometry;
+
+    pcl::ConvexHull<pcl::PointXYZ> hull;
+    hull.setInputCloud(cloud);
+    hull.setComputeAreaVolume(true);
+    hull.reconstruct(hull_geometry);
+
+    std::cout << "Convex Hull Volume: " << hull.getTotalVolume() << std::endl;
+}
\ No newline at end of file
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