diff --git a/pkgs/top-level/all-packages.nix b/pkgs/top-level/all-packages.nix
index 09faa28ac730..ee76beddd346 100644
--- a/pkgs/top-level/all-packages.nix
+++ b/pkgs/top-level/all-packages.nix
@@ -9697,7 +9697,9 @@ with pkgs;
 
   rocket = libsForQt5.callPackage ../tools/graphics/rocket { };
 
-  rtabmap = libsForQt5.callPackage ../applications/video/rtabmap/default.nix { };
+  rtabmap = libsForQt5.callPackage ../applications/video/rtabmap/default.nix {
+    pcl = pcl.override { vtk = vtkWithQt5; };
+  };
 
   rtaudio = callPackage ../development/libraries/audio/rtaudio {
     jack = libjack2;