diff --git a/cMake/UseLibPack10x.cmake b/cMake/UseLibPack10x.cmake
index 36555ff2b..07fea3094 100644
--- a/cMake/UseLibPack10x.cmake
+++ b/cMake/UseLibPack10x.cmake
@@ -354,21 +354,45 @@ set(NGLIB_DEBUG_LIBRARIES
 # Pointscloud library
 set(PCL_INCLUDE_DIRS ${FREECAD_LIBPACK_DIR}/include/pcl-1.7)
 set(PCL_LIBRARIES 
+    debug     pcl_common_debug.lib
     optimized pcl_common_release.lib
-    optimized pcl_kdtree_release.lib
-    optimized pcl_octree_release.lib
-    optimized pcl_io_release.lib
+    debug     pcl_features_debug.lib
+    optimized pcl_features_release.lib
+    debug     pcl_filters_debug.lib
+    optimized pcl_filters_release.lib
+    debug     pcl_io_debug.lib
+    debug     pcl_io_ply_debug.lib
     optimized pcl_io_ply_release.lib
-)
-set(PCL_DEBUG_LIBRARIES 
-    debug pcl_common_debug.lib
-    debug pcl_kdtree_debug.lib
-    debug pcl_octree_debug.lib
-    debug pcl_io_debug.lib
-    debug pcl_io_ply_debug.lib
+    optimized pcl_io_release.lib
+    debug     pcl_kdtree_debug.lib
+    optimized pcl_kdtree_release.lib
+    debug     pcl_keypoints_debug.lib
+    optimized pcl_keypoints_release.lib
+    debug     pcl_ml_debug.lib
+    optimized pcl_ml_release.lib
+    debug     pcl_octree_debug.lib
+    optimized pcl_octree_release.lib
+    debug     pcl_recognition_debug.lib
+    optimized pcl_recognition_release.lib
+    debug     pcl_registration_debug.lib
+    optimized pcl_registration_release.lib
+    debug     pcl_sample_consensus_debug.lib
+    optimized pcl_sample_consensus_release.lib
+    debug     pcl_search_debug.lib
+    optimized pcl_search_release.lib
+    debug     pcl_segmentation_debug.lib
+    optimized pcl_segmentation_release.lib
+    debug     pcl_stereo_debug.lib
+    optimized pcl_stereo_release.lib
+    debug     pcl_surface_debug.lib
+    optimized pcl_surface_release.lib
+    debug     pcl_tracking_debug.lib
+    optimized pcl_tracking_release.lib
 )
 set(PCL_FOUND TRUE) 
 
+set(FLANN_INCLUDE_DIRS ${FREECAD_LIBPACK_DIR}/include/flann-1.8)
+
 
 set(OCC_INCLUDE_DIR ${FREECAD_LIBPACK_DIR}/include/oce-0.15)
 set(OCC_LIBRARY_DIR ${FREECAD_LIBPACK_DIR}/lib)
diff --git a/src/Mod/ReverseEngineering/App/CMakeLists.txt b/src/Mod/ReverseEngineering/App/CMakeLists.txt
index 20a6d8575..b3e64f467 100644
--- a/src/Mod/ReverseEngineering/App/CMakeLists.txt
+++ b/src/Mod/ReverseEngineering/App/CMakeLists.txt
@@ -17,6 +17,7 @@ include_directories(
     ${ZLIB_INCLUDE_DIR}
     ${EIGEN3_INCLUDE_DIR}
     ${PCL_INCLUDE_DIRS}
+    ${FLANN_INCLUDE_DIRS}
 )
 
 link_directories(${OCC_LIBRARY_DIR})
diff --git a/src/Mod/ReverseEngineering/App/SurfaceTriangulation.cpp b/src/Mod/ReverseEngineering/App/SurfaceTriangulation.cpp
index dfcd2a4ee..c3def32de 100644
--- a/src/Mod/ReverseEngineering/App/SurfaceTriangulation.cpp
+++ b/src/Mod/ReverseEngineering/App/SurfaceTriangulation.cpp
@@ -34,7 +34,7 @@
 #include <pcl/point_types.h>
 #include <pcl/features/normal_3d.h>
 #include <pcl/surface/mls.h>
-#include <pcl/surface/mls_omp.h>
+#include <pcl/point_traits.h>
 #include <pcl/surface/gp3.h>
 #include <pcl/surface/grid_projection.h>
 #include <pcl/surface/convex_hull.h>
@@ -121,7 +121,7 @@ void SurfaceTriangulation::perform()
         for (size_t d = 0; d < mesh.cloud.fields.size(); ++d) {
             int c = 0;
             // adding vertex
-            if ((mesh.cloud.fields[d].datatype == sensor_msgs::PointField::FLOAT32) && (
+            if ((mesh.cloud.fields[d].datatype == pcl::PCLPointField::FLOAT32) && (
                  mesh.cloud.fields[d].name == "x" ||
                  mesh.cloud.fields[d].name == "y" ||
                  mesh.cloud.fields[d].name == "z"))