diff --git a/CMakeLists.txt b/CMakeLists.txt
index 184a680de..d3819db63 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -302,7 +302,7 @@ option(DEPTHAI_BUILD_TESTS "Build tests" OFF)
 option(DEPTHAI_BUILD_EXAMPLES "Build examples - Requires OpenCV library to be installed" OFF)
 option(DEPTHAI_BUILD_DOCS "Build documentation - requires doxygen to be installed" OFF)
 option(DEPTHAI_OPENCV_SUPPORT "Enable optional OpenCV support" ON)
-option(DEPTHAI_PCL_SUPPORT "Enable optional PCL support" ON)
+option(DEPTHAI_PCL_SUPPORT "Enable optional PCL support" OFF)
 
 
 option(DEPTHAI_BINARIES_RESOURCE_COMPILE "Compile Depthai device side binaries into library" ON)
diff --git a/README.md b/README.md
index 4087e2945..cfc74f3d9 100644
--- a/README.md
+++ b/README.md
@@ -194,6 +194,7 @@ The following environment variables can be set to alter default behavior of the
 | DEPTHAI_LIBUSB_ANDROID_JAVAVM | JavaVM pointer that is passed to libusb for rootless Android interaction with devices. Interpreted as decimal value of uintptr_t |
 | DEPTHAI_CRASHDUMP | Directory in which to save the crash dump. |
 | DEPTHAI_CRASHDUMP_TIMEOUT | Specifies the duration in seconds to wait for device reboot when obtaining a crash dump. Crash dump retrieval disabled if 0. |
+| DEPTHAI_PCL_SUPPORT | Enables PCL support. |
 
 ## Running tests
 
diff --git a/cmake/depthaiDependencies.cmake b/cmake/depthaiDependencies.cmake
index abff1f6f3..9be00b7f6 100644
--- a/cmake/depthaiDependencies.cmake
+++ b/cmake/depthaiDependencies.cmake
@@ -22,6 +22,9 @@ else()
         hunter_add_package(Backward)
     endif()
     hunter_add_package(libnop)
+    if(DEPTHAI_PCL_SUPPORT)
+        hunter_add_package(jsoncpp)
+    endif()
 endif()
 
 # If library was build as static, find all dependencies
@@ -76,13 +79,16 @@ endif()
 
 # OpenCV 4 - (optional, quiet always)
 find_package(OpenCV 4 QUIET CONFIG)
-
-find_package(jsoncpp QUIET)
+if(DEPTHAI_PCL_SUPPORT AND NOT TARGET JsonCpp::JsonCpp)
+    find_package(jsoncpp)
+endif()
 set(MODULE_TEMP ${CMAKE_MODULE_PATH})
 set(PREFIX_TEMP ${CMAKE_PREFIX_PATH})
 set(CMAKE_MODULE_PATH ${_DEPTHAI_MODULE_PATH_ORIGINAL})
 set(CMAKE_PREFIX_PATH ${_DEPTHAI_PREFIX_PATH_ORIGINAL})
-find_package(PCL QUIET CONFIG COMPONENTS common visualization)
+if(DEPTHAI_PCL_SUPPORT)
+    find_package(PCL CONFIG COMPONENTS common visualization)
+endif()
 set(CMAKE_MODULE_PATH ${MODULE_TEMP})
 set(CMAKE_PREFIX_PATH ${PREFIX_TEMP})