1) Make sure you understand how CMake works and how you can create simple applications that
#include and link correctly against MRPT.
2) Add the
FIND_PACKAGE(PCL ...) command to your
CMakeLists.txt file as usual. See this directory for working examples of MRPT-PCL integration in the same program.
Additionally, read this page for a list of classes and functions in MRPT which are prepared for interacting with PCL.