diff --git a/rtc/DataLogger/CMakeLists.txt b/rtc/DataLogger/CMakeLists.txt
index a19b81210b2..58912c9120e 100644
--- a/rtc/DataLogger/CMakeLists.txt
+++ b/rtc/DataLogger/CMakeLists.txt
@@ -8,11 +8,14 @@ add_executable(DataLoggerComp DataLoggerComp.cpp ${comp_sources})
 target_link_libraries(DataLoggerComp ${libs})
 
 find_package(PCL)
-if (PCL_FOUND AND "${PCL_VERSION_MINOR}" GREATER 6)
+find_package(VTK)
+
+if ( PCL_FOUND AND PCL_IO_FOUND AND VTK_FOUND AND "${PCL_VERSION_MINOR}" GREATER 6)
+  include(${VTK_USE_FILE})
   include_directories(${PCL_INCLUDE_DIRS})
   link_directories(${PCL_LIBRARY_DIRS})
   add_executable(PointCloudLogViewer PointCloudLogViewer)
-  target_link_libraries(PointCloudLogViewer ${PCL_LIBRARIES})
+  target_link_libraries(PointCloudLogViewer ${PCL_LIBRARIES} ${VTK_LIBRARIES})
   set(target DataLogger DataLoggerComp PointCloudLogViewer)
 else()
   set(target DataLogger DataLoggerComp)