diff --git a/CMakeLists.txt b/CMakeLists.txt
index fb8c20ce9a9bb2133117b68ff774466f02a14106..7e1b839c37c3e0d47e23a823d9ed32427c5b2913 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -27,6 +27,10 @@ find_package( PCL )
 set(CMAKE_CXX_STANDARD 17) # For PCL/VTK https://github.com/PointCloudLibrary/pcl/issues/2686
 set(HAVE_OPENCV TRUE)
 
+if (PCL_FOUND)
+set(HAVE_PCL TRUE)
+endif()
+
 # Readline library is not required on Windows
 # May also entirely remove dependence on this... it should be optional at least.
 if (NOT WIN32)
diff --git a/common/cpp/include/ftl/config.h.in b/common/cpp/include/ftl/config.h.in
index 7c128412996648572adbbd5a6a1a625f98ba9fed..3972664ad516136958862583c446dce7414825ed 100644
--- a/common/cpp/include/ftl/config.h.in
+++ b/common/cpp/include/ftl/config.h.in
@@ -6,6 +6,7 @@
 #cmakedefine HAVE_URIPARSESINGLE
 #cmakedefine HAVE_CUDA
 #cmakedefine HAVE_OPENCV
+#cmakedefine HAVE_PCL
 
 extern const char *FTL_VERSION_LONG;
 extern const char *FTL_VERSION;