diff --git a/ports/pcl/install-examples.patch b/ports/pcl/install-examples.patch
new file mode 100644
index 00000000000000..136a4ce3675c1e
--- /dev/null
+++ b/ports/pcl/install-examples.patch
@@ -0,0 +1,13 @@
+diff --git a/cmake/pcl_targets.cmake b/cmake/pcl_targets.cmake
+index 91f2404..18f5a24 100644
+--- a/cmake/pcl_targets.cmake
++++ b/cmake/pcl_targets.cmake
+@@ -473,6 +473,8 @@ macro(PCL_ADD_EXAMPLE _name)
+   # add target to list of example targets created at the parent scope
+   list(APPEND PCL_EXAMPLES_ALL_TARGETS ${_name})
+   set(PCL_EXAMPLES_ALL_TARGETS "${PCL_EXAMPLES_ALL_TARGETS}" PARENT_SCOPE)
++
++  install(TARGETS ${_name} RUNTIME DESTINATION ${BIN_INSTALL_DIR})
+ endmacro()
+ 
+ ###############################################################################
diff --git a/ports/pcl/portfile.cmake b/ports/pcl/portfile.cmake
index 5780a8b10870a2..cb11edf143065a 100644
--- a/ports/pcl/portfile.cmake
+++ b/ports/pcl/portfile.cmake
@@ -15,6 +15,7 @@ vcpkg_from_github(
         fix-cmake_find_library_suffixes.patch
         fix-pkgconfig.patch # Remove this patch in the next update
         fix-find-libusb.patch
+        install-examples.patch
 )
 
 file(REMOVE "${SOURCE_PATH}/cmake/Modules/FindQhull.cmake"
@@ -32,16 +33,26 @@ endif()
 
 vcpkg_check_features(OUT_FEATURE_OPTIONS FEATURE_OPTIONS
     FEATURES
-        openni2 WITH_OPENNI2
-        qt      WITH_QT
-        pcap    WITH_PCAP
-        cuda    WITH_CUDA
-        cuda    BUILD_CUDA
-        cuda    BUILD_GPU
-        tools   BUILD_tools
-        opengl  WITH_OPENGL
-        vtk     WITH_VTK
-        libusb  WITH_LIBUSB
+        openni2         WITH_OPENNI2
+        qt              WITH_QT
+        pcap            WITH_PCAP
+        cuda            WITH_CUDA
+        cuda            BUILD_CUDA
+        cuda            BUILD_GPU
+        tools           BUILD_tools
+        opengl          WITH_OPENGL
+        vtk             WITH_VTK
+        libusb          WITH_LIBUSB
+        visualization   BUILD_visualization
+        examples        BUILD_examples
+        apps            BUILD_apps
+        apps            BUILD_apps_cloud_composer
+        apps            BUILD_apps_modeler
+        apps            BUILD_apps_point_cloud_editor
+        # These 2 apps need openni1
+        #apps            BUILD_apps_in_hand_scanner
+        #apps            BUILD_apps_3d_rec_framework
+        simulation      BUILD_simulation
 )
 
 vcpkg_cmake_configure(
@@ -103,7 +114,7 @@ vcpkg_fixup_pkgconfig()
 file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include")
 file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/share")
 
-if("tools" IN_LIST FEATURES) 
+if(BUILD_tools OR BUILD_apps OR BUILD_examples)
     file(GLOB EXEFILES_RELEASE "${CURRENT_PACKAGES_DIR}/bin/*${VCPKG_TARGET_EXECUTABLE_SUFFIX}")
     file(GLOB EXEFILES_DEBUG "${CURRENT_PACKAGES_DIR}/debug/bin/*${VCPKG_TARGET_EXECUTABLE_SUFFIX}")
     file(COPY ${EXEFILES_RELEASE} DESTINATION "${CURRENT_PACKAGES_DIR}/tools/pcl")
@@ -111,4 +122,5 @@ if("tools" IN_LIST FEATURES)
     vcpkg_copy_tool_dependencies("${CURRENT_PACKAGES_DIR}/tools/pcl")
 endif()
 
+file(INSTALL "${CMAKE_CURRENT_LIST_DIR}/usage" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}")
 file(INSTALL "${SOURCE_PATH}/LICENSE.txt" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)
diff --git a/ports/pcl/usage b/ports/pcl/usage
new file mode 100644
index 00000000000000..60aecd4943902f
--- /dev/null
+++ b/ports/pcl/usage
@@ -0,0 +1,4 @@
+The package pcl provides CMake targets:
+
+    find_package(PCL CONFIG REQUIRED)
+    target_link_libraries(main PRIVATE ${PCL_LIBRARIES})
diff --git a/ports/pcl/vcpkg.json b/ports/pcl/vcpkg.json
index f5db2beb7ffd12..f50381e733d5ae 100644
--- a/ports/pcl/vcpkg.json
+++ b/ports/pcl/vcpkg.json
@@ -1,7 +1,7 @@
 {
   "name": "pcl",
   "version": "1.12.0",
-  "port-version": 1,
+  "port-version": 2,
   "description": "Point Cloud Library (PCL) is open source library for 2D/3D image and point cloud processing.",
   "homepage": "https://github.com/PointCloudLibrary/pcl",
   "supports": "!(arm64 & windows)",
@@ -37,12 +37,33 @@
     }
   ],
   "features": {
+    "apps": {
+      "description": "Build application examples/samples that show how PCL works",
+      "dependencies": [
+        {
+          "name": "pcl",
+          "default-features": false,
+          "features": [
+            "opengl",
+            "openni2",
+            "qt",
+            "vtk"
+          ]
+        }
+      ]
+    },
     "cuda": {
       "description": "CUDA support for PCL",
       "dependencies": [
         "cuda"
       ]
     },
+    "examples": {
+      "description": "Build PCL examples",
+      "dependencies": [
+        "vtk"
+      ]
+    },
     "libusb": {
       "description": "Build USB RGBD-Camera drivers",
       "dependencies": [
@@ -90,17 +111,42 @@
         }
       ]
     },
+    "simulation": {
+      "description": "Build Point Cloud Library Simulation",
+      "dependencies": [
+        "glew",
+        {
+          "name": "pcl",
+          "default-features": false,
+          "features": [
+            "opengl"
+          ]
+        }
+      ]
+    },
     "tools": {
       "description": "Build PCL utilities",
       "dependencies": [
         "boost-accumulators"
       ]
     },
-    "vtk": {
-      "description": "VTK-Visualizations support for PCL",
+    "visualization": {
+      "description": "Build visualization",
       "dependencies": [
         "vtk"
       ]
+    },
+    "vtk": {
+      "description": "An alias for visualization",
+      "dependencies": [
+        {
+          "name": "pcl",
+          "default-features": false,
+          "features": [
+            "visualization"
+          ]
+        }
+      ]
     }
   }
 }
diff --git a/versions/baseline.json b/versions/baseline.json
index eff736117e3fc3..62494f41412133 100644
--- a/versions/baseline.json
+++ b/versions/baseline.json
@@ -5170,7 +5170,7 @@
     },
     "pcl": {
       "baseline": "1.12.0",
-      "port-version": 1
+      "port-version": 2
     },
     "pcre": {
       "baseline": "8.45",
diff --git a/versions/p-/pcl.json b/versions/p-/pcl.json
index 609b71c7d53b24..71cc6775476132 100644
--- a/versions/p-/pcl.json
+++ b/versions/p-/pcl.json
@@ -1,5 +1,10 @@
 {
   "versions": [
+    {
+      "git-tree": "5d02740fc9422f1b520ae322cda71e8e6e5323cf",
+      "version": "1.12.0",
+      "port-version": 2
+    },
     {
       "git-tree": "a2eb47fa4d7f959d9c8712f0d0925c2af94bcc80",
       "version": "1.12.0",