Description of problem: The pkg-config file that ships with pcl requires "openni-dev". openni ships no pkg-config file though -- neither upstream nor Fedora. Consequently, if you're using pcl's pkg-config file, it can't fulfill the requirements and that's causing issues with dependent builds, like gtatool, for instance. Version-Release number of selected component (if applicable): It's certainly a problem with 1.7.
Whoops, looks like the ROS deb of OpenNI has a .pc file added that isn't upstream. I'll remove it from pcl's pkgconfig for now
pcl-1.7.0-4.fc20 has been submitted as an update for Fedora 20. https://admin.fedoraproject.org/updates/pcl-1.7.0-4.fc20
Package pcl-1.7.0-4.fc20: * should fix your issue, * was pushed to the Fedora 20 testing repository, * should be available at your local mirror within two days. Update it with: # su -c 'yum update --enablerepo=updates-testing pcl-1.7.0-4.fc20' as soon as you are able to. Please go to the following url: https://admin.fedoraproject.org/updates/FEDORA-2013-16781/pcl-1.7.0-4.fc20 then log in and leave karma (feedback).
pcl-1.7.0-4.fc20 has been pushed to the Fedora 20 stable repository. If problems still persist, please make note of it in this bug report.