diff --git a/cMake/UseLibPack9x.cmake b/cMake/UseLibPack9x.cmake
index 421888651..392b85bb1 100644
--- a/cMake/UseLibPack9x.cmake
+++ b/cMake/UseLibPack9x.cmake
@@ -471,3 +471,39 @@ SET(PYSIDE_INCLUDE_DIR ${FREECAD_LIBPACK_DIR}/include/PySide-1.2.1)
 SET(PYSIDE_LIBRARY     optimized ${FREECAD_LIBPACK_DIR}/lib/pyside-python2.7.lib debug ${FREECAD_LIBPACK_DIR}/lib/pyside-python2.7_d.lib)
 SET(PYSIDE_PYTHONPATH  ${FREECAD_LIBPACK_DIR}/pyside/Lib/site-packages)
 SET(PYSIDE_TYPESYSTEMS ${FREECAD_LIBPACK_DIR}/pyside/share/PySide/typesystems)
+
+# Pointscloud library
+set(PCL_INCLUDE_DIRS ${FREECAD_LIBPACK_DIR}/include/pcl-1.6)
+set(PCL_LIBRARIES
+    debug     pcl_common_debug.lib
+    optimized pcl_common_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
+    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_octree_debug.lib
+    optimized pcl_octree_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_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-1.7.1)
diff --git a/src/Mod/ReverseEngineering/App/SurfaceTriangulation.cpp b/src/Mod/ReverseEngineering/App/SurfaceTriangulation.cpp
index c3def32de..a503806f5 100644
--- a/src/Mod/ReverseEngineering/App/SurfaceTriangulation.cpp
+++ b/src/Mod/ReverseEngineering/App/SurfaceTriangulation.cpp
@@ -31,19 +31,24 @@
 
 // http://svn.pointclouds.org/pcl/tags/pcl-1.5.1/test/
 #if defined(PCL_FOUND)
+#include <pcl/pcl_config.h>
 #include <pcl/point_types.h>
 #include <pcl/features/normal_3d.h>
 #include <pcl/surface/mls.h>
 #include <pcl/point_traits.h>
 #include <pcl/surface/gp3.h>
 #include <pcl/surface/grid_projection.h>
-#include <pcl/surface/convex_hull.h>
-#include <pcl/surface/concave_hull.h>
+//#include <pcl/surface/convex_hull.h>
+//#include <pcl/surface/concave_hull.h>
 #include <pcl/surface/organized_fast_mesh.h>
 #include <pcl/surface/ear_clipping.h>
 #include <pcl/common/common.h>
 #include <boost/random.hpp>
 
+#ifndef PCL_REVISION_VERSION
+#define PCL_REVISION_VERSION 0
+#endif
+
 using namespace pcl;
 using namespace pcl::io;
 using namespace std;
@@ -104,10 +109,10 @@ void SurfaceTriangulation::perform()
     gp3.reconstruct (mesh);
 
     // number of points
-    int nr_points  = mesh.cloud.width * mesh.cloud.height;
-    int point_size = mesh.cloud.data.size () / nr_points;
+    size_t nr_points  = mesh.cloud.width * mesh.cloud.height;
+    size_t point_size = mesh.cloud.data.size () / nr_points;
     // number of faces for header
-    int nr_faces = mesh.polygons.size ();
+    size_t nr_faces = mesh.polygons.size ();
 
     MeshCore::MeshPointArray points;
     points.reserve(nr_points);
@@ -116,13 +121,18 @@ void SurfaceTriangulation::perform()
 
     // get vertices
     MeshCore::MeshPoint vertex;
-    for (int i = 0; i < nr_points; ++i) {
+    for (size_t i = 0; i < nr_points; ++i) {
         int xyz = 0;
         for (size_t d = 0; d < mesh.cloud.fields.size(); ++d) {
             int c = 0;
             // adding vertex
-            if ((mesh.cloud.fields[d].datatype == pcl::PCLPointField::FLOAT32) && (
-                 mesh.cloud.fields[d].name == "x" ||
+            if ((mesh.cloud.fields[d].datatype ==
+#if PCL_VERSION_COMPARE(>,1,6,0)
+                 pcl::PCLPointField::FLOAT32) &&
+#else
+                 sensor_msgs::PointField::FLOAT32) &&
+#endif
+                (mesh.cloud.fields[d].name == "x" ||
                  mesh.cloud.fields[d].name == "y" ||
                  mesh.cloud.fields[d].name == "z"))
             {
@@ -138,7 +148,7 @@ void SurfaceTriangulation::perform()
     }
     // get faces
     MeshCore::MeshFacet face;
-    for(int i = 0; i < nr_faces; i++) {
+    for (size_t i = 0; i < nr_faces; i++) {
         face._aulPoints[0] = mesh.polygons[i].vertices[0];
         face._aulPoints[1] = mesh.polygons[i].vertices[1];
         face._aulPoints[2] = mesh.polygons[i].vertices[2];