diff --git a/pkgs/development/libraries/flann/default.nix b/pkgs/development/libraries/flann/default.nix
index eaf4ed8836e3..4e4391a50f75 100644
--- a/pkgs/development/libraries/flann/default.nix
+++ b/pkgs/development/libraries/flann/default.nix
@@ -1,11 +1,11 @@
 {stdenv, fetchurl, unzip, cmake, python}:
 
 stdenv.mkDerivation {
-  name = "flann-1.6.8";
+  name = "flann-1.8.4";
   
   src = fetchurl {
-    url = http://people.cs.ubc.ca/~mariusm/uploads/FLANN/flann-1.6.8-src.zip;
-    sha256 = "0ag9k821jy0983gjrfsjnqkl5axklcih0qkpfy72h3643nin0f50";
+    url = http://people.cs.ubc.ca/~mariusm/uploads/FLANN/flann-1.8.4-src.zip;
+    sha256 = "022w8hph7bli5zbpnk3z1qh1c2sl5hm8fw2ccim651ynn0hr7fyz";
   };
 
   buildInputs = [ unzip cmake python ];
@@ -14,5 +14,7 @@ stdenv.mkDerivation {
     homepage = http://people.cs.ubc.ca/~mariusm/flann/;
     license = "BSD";
     description = "Fast approximate nearest neighbor searches in high dimensional spaces";
+    maintainers = with stdenv.lib.maintainers; [viric];
+    platforms = with stdenv.lib.platforms; linux;
   };
 }
diff --git a/pkgs/development/libraries/pcl/default.nix b/pkgs/development/libraries/pcl/default.nix
new file mode 100644
index 000000000000..183170bd85aa
--- /dev/null
+++ b/pkgs/development/libraries/pcl/default.nix
@@ -0,0 +1,22 @@
+{ stdenv, fetchurl, cmake, qhull, flann, boost, vtk, eigen, pkgconfig, qt4, libusb1 }:
+
+stdenv.mkDerivation {
+  name = "pcl-1.6.0";
+
+  buildInputs = [ cmake qhull flann boost vtk eigen pkgconfig qt4 libusb1 ];
+
+  src = fetchurl {
+    url = mirror://sourceforge/pointclouds/PCL-1.6.0-Source.tar.bz2;
+    sha256 = "0ip3djcjgynlr9vac6jlcw6kxhg2lm8fc0aqk747a6l0rqvllf1x";
+  };
+
+  enableParallelBuilding = true;
+
+  meta = {
+    homeapge = http://pointclouds.org/;
+    description = "Open project for 2D/3D image and point cloud processing";
+    license = "BSD";
+    maintainers = with stdenv.lib.maintainers; [viric];
+    platforms = with stdenv.lib.platforms; linux;
+  };
+}
diff --git a/pkgs/development/libraries/vtk/default.nix b/pkgs/development/libraries/vtk/default.nix
index 9e4816cab0af..e8f42e9f7f5f 100644
--- a/pkgs/development/libraries/vtk/default.nix
+++ b/pkgs/development/libraries/vtk/default.nix
@@ -16,12 +16,20 @@ stdenv.mkDerivation rec {
     url = "${meta.homepage}files/release/${majorVersion}/vtk-${version}.tar.gz";
     md5 = "a0363f78910f466ba8f1bd5ab5437cb9";
   };
+
   buildInputs = [ cmake mesa libX11 xproto libXt ]
     ++ optional useQt4 qt4;
 
-  cmakeFlags = optional useQt4
+  # Shared libraries don't work, because of rpath troubles with the current
+  # nixpkgs camke approach. It wants to call a binary at build time, just
+  # built and requiring one of the shared objects.
+  # At least, we use -fPIC for other packages to be able to use this in shared
+  # objects.
+  cmakeFlags = [ "-DCMAKE_C_FLAGS=-fPIC" "-DCMAKE_CXX_FLAGS=-fPIC" ] ++ optional useQt4
     [ "-DVTK_USE_QT:BOOL=ON" ];
 
+  enableParallelBuilding = true;
+
   meta = {
     description = "Open source libraries for 3D computer graphics, image processing and visualization";
     homepage = http://www.vtk.org/;
diff --git a/pkgs/top-level/all-packages.nix b/pkgs/top-level/all-packages.nix
index 4cd338e6b2bb..2cc7760b713c 100644
--- a/pkgs/top-level/all-packages.nix
+++ b/pkgs/top-level/all-packages.nix
@@ -4824,6 +4824,10 @@ let
 
   pangoxsl = callPackage ../development/libraries/pangoxsl { };
 
+  pcl = callPackage ../development/libraries/pcl {
+    vtk = vtkWithQt4;
+  };
+
   pcre = callPackage ../development/libraries/pcre {
     unicodeSupport = config.pcre.unicode or true;
   };