--- /dev/null
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 93a6448..b24f681 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -302,10 +302,9 @@ find_package(Eigen 3.1 REQUIRED)
+ include_directories(SYSTEM ${EIGEN_INCLUDE_DIRS})
+
+ # FLANN (required)
+-if(NOT PCL_SHARED_LIBS OR ((WIN32 AND NOT MINGW) AND NOT PCL_BUILD_WITH_FLANN_DYNAMIC_LINKING_WIN32))
+- set(FLANN_USE_STATIC ON)
+-endif()
++set(FLANN_USE_STATIC ON)
+ find_package(FLANN 1.7.0 REQUIRED)
++find_package(lz4)
+
+ # libusb-1.0
+ option(WITH_LIBUSB "Build USB RGBD-Camera drivers" TRUE)
+diff --git a/PCLConfig.cmake.in b/PCLConfig.cmake.in
+index 79077fb..042467b 100644
+--- a/PCLConfig.cmake.in
++++ b/PCLConfig.cmake.in
+@@ -88,11 +88,6 @@ endmacro()
+
+ ### ---[ 3rd party libraries
+ macro(find_boost)
+- if(PCL_ALL_IN_ONE_INSTALLER)
+- set(BOOST_ROOT "${PCL_ROOT}/3rdParty/Boost")
+- elseif(NOT BOOST_INCLUDEDIR)
+- set(BOOST_INCLUDEDIR "@Boost_INCLUDE_DIR@")
+- endif()
+ # use static Boost in Windows
+ if(WIN32)
+ set(Boost_USE_STATIC_LIBS @Boost_USE_STATIC_LIBS@)
+@@ -667,8 +662,8 @@ pcl_remove_duplicate_libraries(PCL_COMPONENTS PCL_LIBRARIES)
+
+ # Add 3rd party libraries, as user code might include our .HPP implementations
+ list(APPEND PCL_LIBRARIES ${BOOST_LIBRARIES} ${QHULL_LIBRARIES} ${OPENNI_LIBRARIES} ${OPENNI2_LIBRARIES} ${ENSENSO_LIBRARIES} ${davidSDK_LIBRARIES} ${DSSDK_LIBRARIES} ${RSSDK_LIBRARIES} ${RSSDK2_LIBRARIES} ${VTK_LIBRARIES})
+-if (TARGET FLANN::FLANN)
+- list(APPEND PCL_LIBRARIES FLANN::FLANN)
++if (TARGET flann::flann_cpp)
++ list(APPEND PCL_LIBRARIES flann::flann_cpp)
+ endif()
+
+ find_package_handle_standard_args(PCL DEFAULT_MSG PCL_LIBRARIES PCL_INCLUDE_DIRS)
+diff --git a/doc/tutorials/content/sources/vfh_recognition/CMakeLists.txt b/doc/tutorials/content/sources/vfh_recognition/CMakeLists.txt
+index 7d25d3f..18227a6 100644
+--- a/doc/tutorials/content/sources/vfh_recognition/CMakeLists.txt
++++ b/doc/tutorials/content/sources/vfh_recognition/CMakeLists.txt
+@@ -16,7 +16,7 @@ include_directories(SYSTEM
+
+ add_executable(build_tree build_tree.cpp)
+ target_link_libraries(build_tree ${PCL_LIBRARIES} ${Boost_LIBRARIES}
+- FLANN::FLANN ${HDF5_LIBRARIES})
++ flann::flann_cpp ${HDF5_LIBRARIES})
+
+ add_executable(nearest_neighbors nearest_neighbors.cpp)
+-target_link_libraries(nearest_neighbors ${PCL_LIBRARIES} ${Boost_LIBRARIES} FLANN::FLANN ${HDF5_LIBRARIES})
++target_link_libraries(nearest_neighbors ${PCL_LIBRARIES} ${Boost_LIBRARIES} flann::flann_cpp ${HDF5_LIBRARIES})
+diff --git a/kdtree/CMakeLists.txt b/kdtree/CMakeLists.txt
+index 826e902..f714130 100644
+--- a/kdtree/CMakeLists.txt
++++ b/kdtree/CMakeLists.txt
+@@ -31,7 +31,7 @@ set(impl_incs
+ set(LIB_NAME "pcl_${SUBSYS_NAME}")
+ include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include")
+ PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${impl_incs})
+-target_link_libraries("${LIB_NAME}" pcl_common FLANN::FLANN)
++target_link_libraries("${LIB_NAME}" pcl_common flann::flann_cpp)
+ set(EXT_DEPS flann)
+ PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC} PCL_DEPS ${SUBSYS_DEPS} EXT_DEPS ${EXT_DEPS})
+
+diff --git a/search/CMakeLists.txt b/search/CMakeLists.txt
+index 46f4632..67c5e53 100644
+--- a/search/CMakeLists.txt
++++ b/search/CMakeLists.txt
+@@ -41,7 +41,7 @@ set(impl_incs
+ set(LIB_NAME "pcl_${SUBSYS_NAME}")
+ include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include")
+ PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${impl_incs})
+-target_link_libraries("${LIB_NAME}" pcl_common FLANN::FLANN pcl_octree pcl_kdtree)
++target_link_libraries("${LIB_NAME}" pcl_common flann::flann_cpp pcl_octree pcl_kdtree)
+ list(APPEND EXT_DEPS flann)
+ PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC} PCL_DEPS ${SUBSYS_DEPS})
+
+diff --git a/test/features/CMakeLists.txt b/test/features/CMakeLists.txt
+index 9775415..bf582ac 100644
+--- a/test/features/CMakeLists.txt
++++ b/test/features/CMakeLists.txt
+@@ -91,7 +91,7 @@ if(BUILD_io)
+ ARGUMENTS "${PCL_SOURCE_DIR}/test/bun0.pcd")
+ PCL_ADD_TEST(features_narf test_narf
+ FILES test_narf.cpp
+- LINK_WITH pcl_gtest pcl_features FLANN::FLANN)
++ LINK_WITH pcl_gtest pcl_features flann::flann_cpp)
+ PCL_ADD_TEST(a_ii_normals_test test_ii_normals
+ FILES test_ii_normals.cpp
+ LINK_WITH pcl_gtest pcl_io pcl_features