diff --git a/PCLConfig.cmake.in b/PCLConfig.cmake.in
index cf21c44..4076775 100644
--- a/PCLConfig.cmake.in
+++ b/PCLConfig.cmake.in
@@ -460,6 +460,11 @@ list(LENGTH pcl_all_components PCL_NB_COMPONENTS)
 
 @PCLCONFIG_OPTIONAL_DEPENDENCIES@
 
+# io_ply subcomponent
+list(APPEND pcl_io_int_dep io_ply)
+set(pcl_io_ply_int_dep common)
+set(pcl_io_ply_ext_dep boost)
+
 # VTK components required by PCL
 set(PCL_VTK_COMPONENTS "@PCL_VTK_COMPONENTS@")
 
@@ -517,18 +522,21 @@ foreach(component ${PCL_TO_FIND_COMPONENTS})
 
   string(REGEX REPLACE "^cuda_(.*)$" "\\1" cuda_component "${component}")
   string(REGEX REPLACE "^gpu_(.*)$" "\\1" gpu_component "${component}")
+  string(REGEX REPLACE "^io_(.*)$" "\\1" io_component "${component}")
 
   find_path(PCL_${COMPONENT}_INCLUDE_DIR
     NAMES pcl/${component}
           pcl/apps/${component}
           pcl/cuda/${cuda_component} pcl/cuda/${component}
           pcl/gpu/${gpu_component} pcl/gpu/${component}
+          pcl/io/${io_component}
     HINTS ${PCL_INCLUDE_DIRS}
     PATH_SUFFIXES
           ${component}/include
           apps/${component}/include
           cuda/${cuda_component}/include
           gpu/${gpu_component}/include
+          io/${io_component}/include
     DOC "path to ${component} headers"
     NO_DEFAULT_PATH)
   mark_as_advanced(PCL_${COMPONENT}_INCLUDE_DIR)
diff --git a/io/CMakeLists.txt b/io/CMakeLists.txt
index 7fc86b2..7a39033 100644
--- a/io/CMakeLists.txt
+++ b/io/CMakeLists.txt
@@ -213,6 +213,8 @@ PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/ply" ${PLY_INCLUDES})
 PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/ply" ${PLY_INCLUDES})
 target_link_libraries(pcl_io_ply pcl_common Boost::boost)
 
+PCL_MAKE_PKGCONFIG(pcl_io_ply COMPONENT ${SUBSYS_NAME} DESC "${SUBSYS_DESC}, PLY" PCL_DEPS common)
+
 set(srcs
   src/debayer.cpp
   src/pcd_grabber.cpp
@@ -432,7 +434,7 @@ if(WITH_ENSENSO)
   list(APPEND EXT_DEPS ensenso)
 endif()
 
-PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC} PCL_DEPS ${SUBSYS_DEPS} EXT_DEPS ${EXT_DEPS})
+PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC} PCL_DEPS ${SUBSYS_DEPS} EXT_DEPS ${EXT_DEPS} pcl_io_ply)
 
 # Install include files
 PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}" ${incs})