diff --git a/recipes-extended/pcl/pcl_1.7.0.bb b/recipes-extended/pcl/pcl_1.7.0.bb
new file mode 100644
index 0000000..c34611a
--- /dev/null
+++ b/recipes-extended/pcl/pcl_1.7.0.bb
@@ -0,0 +1,30 @@
+DESCRIPTION = "The Point Cloud Library (or PCL) for point cloud processing."
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://LICENSE.txt;md5=5b8a2a1aa14e6de44b4273134946a34c"
+
+DEPENDS = "boost libflann libeigen libusb1 libpng qhull"
+
+SRC_URI = "https://github.com/PointCloudLibrary/${PN}/archive/${P}.tar.gz"
+SRC_URI[md5sum] = "e2ac2d2e72825d991c6d194f9586b5d8"
+SRC_URI[sha256sum] = "a5446b4d892d0e6b080ab6b6b745faad2f2f415c6c1353b1424f6b38175c777e"
+
+S = "${WORKDIR}/pcl-${P}"
+
+EXTRA_OECMAKE += "\
+  -DCMAKE_SKIP_RPATH=ON \
+  -DHAVE_MM_MALLOC_EXITCODE=0 \
+  -DHAVE_POSIX_MEMALIGN_EXITCODE=0 \ 
+   ${@bb.utils.contains("TARGET_CC_ARCH", "-msse4.2", "-DHAVE_SSE4_2_EXTENSIONS_EXITCODE=0", "-DHAVE_SSE4_2_EXTENSIONS_EXITCODE=1", d)} \
+   ${@bb.utils.contains("TARGET_CC_ARCH", "-msse4.1", "-DHAVE_SSE4_1_EXTENSIONS_EXITCODE=0", "-DHAVE_SSE4_1_EXTENSIONS_EXITCODE=1", d)} \
+   ${@bb.utils.contains("TARGET_CC_ARCH", "-msse3", "-DHAVE_SSE3_EXTENSIONS_EXITCODE=0", "-DHAVE_SSE3_EXTENSIONS_EXITCODE=1", d)} \ 
+   ${@bb.utils.contains("TARGET_CC_ARCH", "-msse2", "-DHAVE_SSE2_EXTENSIONS_EXITCODE=0", "-DHAVE_SSE2_EXTENSIONS_EXITCODE=1", d)} \
+   ${@bb.utils.contains("TARGET_CC_ARCH", "-msse", "-DHAVE_SSE_EXTENSIONS_EXITCODE=0", "-DHAVE_SSE_EXTENSIONS_EXITCODE=1", d)} \
+"
+
+#Setting -ffloat-store to alleviate 32bit vs 64bit discrepancies on non-SSE platforms.
+CXXFLAGS += "${@bb.utils.contains("TARGET_CC_ARCH", "-mfpmath=sse", "", "-ffloat-store", d)}"
+
+inherit cmake
+
+FILES_${PN}-dev += "${datadir}/${PN}-1.7/*.cmake"