diff --git a/examples/boost/BUILD b/examples/boost/BUILD
new file mode 100644
index 000000000..bb5b284fc
--- /dev/null
+++ b/examples/boost/BUILD
@@ -0,0 +1,6 @@
+load("//tools/build_defs:boost_build.bzl", "boost_build")
+
+boost_build(
+    name = "boost",
+    lib_source = "@boost//:all"
+)
\ No newline at end of file
diff --git a/examples/cmake_pcl/BUILD b/examples/cmake_pcl/BUILD
index 52f193330..6e4c1142e 100644
--- a/examples/cmake_pcl/BUILD
+++ b/examples/cmake_pcl/BUILD
@@ -1,4 +1,11 @@
 load("//tools/build_defs:cmake.bzl", "cmake_external")
+load("//tools/build_defs:boost_build.bzl", "boost_build")
+
+# This takes something about 10 minutes
+boost_build(
+    name = "boost",
+    lib_source = "@boost//:all"
+)
 
 cmake_external(
     name = "openblas",
@@ -17,35 +24,51 @@ cmake_external(
         "BLAS_LIBRARIES": "$EXT_BUILD_DEPS/openblas/lib/libopenblas.a",
     },
     headers_only = True,
+    out_include_dir = "include/eigen3",
     lib_source = "@eigen//:all",
     deps = [":openblas"],
 )
 
+
 cmake_external(
     name = "flann",
-    cache_entries = {
-    },
     lib_source = "@flann//:all",
-    static_libraries = [
-        "libflann_s.a",
-        "libflann_cpp_s.a",
-    ],
+    static_libraries = ["libflann_s.a"],
 )
 
-# todo additional dependencies needed
+# This takes about an hour
 cmake_external(
     name = "pcl",
     cache_entries = {
         "WITH_LIBUSB": "no",
-        "EIGEN_INCLUDE_DIR": "$EXT_BUILD_DEPS/eigen/include",
+        "EIGEN_INCLUDE_DIRS": "$EXT_BUILD_DEPS/eigen/include/eigen3",
+        "EIGEN_INCLUDE_DIR": "$EXT_BUILD_DEPS/eigen/include/eigen3",
         "FLANN_LIBRARY": "$EXT_BUILD_DEPS/flann/lib/libflann_s.a",
+        "FLANN_INCLUDE_DIRS": "$EXT_BUILD_DEPS/flann/include",
         "FLANN_INCLUDE_DIR": "$EXT_BUILD_DEPS/flann/include",
+        "WITH_PNG": "no",
+        "WITH_QHULL": "no",
+        "WITH_CUDA": "no",
+        "WITH_QT": "no",
+        "WITH_VTK": "no",
+        "WITH_PCAP": "no",
+        "WITH_OPENGL": "no",
+        "WITH_OPENNI": "no",
+        "WITH_OPENNI2": "no",
+        "WITH_FZAPI": "no",
+        "WITH_ENSENSO": "no",
+        "WITH_DAVIDSDK": "no",
+        "WITH_DSSDK": "no",
+        "WITH_RSSDK": "no",
+        "BOOST_ROOT": "$EXT_BUILD_DEPS/boost/",
+        "BOOST_INCLUDEDIR": "$EXT_BUILD_DEPS/boost/include",
     },
-    cmake_options = ["-DBUILD_WITH_OPENMP=False"],
     headers_only = True,
     lib_source = "@pcl//:all",
+    out_include_dir = "include/pcl-1.8",
     deps = [
         ":eigen",
         ":flann",
+        ":boost"
     ],
-)
+)
\ No newline at end of file
diff --git a/examples/examples_repositories.bzl b/examples/examples_repositories.bzl
index d98724a80..04921706d 100644
--- a/examples/examples_repositories.bzl
+++ b/examples/examples_repositories.bzl
@@ -106,3 +106,11 @@ def include_examples_repositories():
         strip_prefix = "pcl-pcl-1.8.1",
         urls = ["https://github.com/PointCloudLibrary/pcl/archive/pcl-1.8.1.tar.gz"],
     )
+
+    http_archive(
+        name = "boost",
+        build_file_content = all_content,
+        strip_prefix = "boost_1_68_0",
+        sha256 = "da3411ea45622579d419bfda66f45cd0f8c32a181d84adfa936f5688388995cf",
+        urls = ["https://dl.bintray.com/boostorg/release/1.68.0/source/boost_1_68_0.tar.gz"],
+    )
diff --git a/tools/build_defs/boost_build.bzl b/tools/build_defs/boost_build.bzl
new file mode 100644
index 000000000..5e14798ff
--- /dev/null
+++ b/tools/build_defs/boost_build.bzl
@@ -0,0 +1,80 @@
+""" Rule for building Boost from sources. """
+
+load(
+    "//tools/build_defs:framework.bzl",
+    "CC_EXTERNAL_RULE_ATTRIBUTES",
+    "cc_external_rule_impl",
+    "create_attrs",
+)
+load("//tools/build_defs:detect_root.bzl", "detect_root")
+
+def _boost_build(ctx):
+    root = detect_root(ctx.attr.lib_source)
+
+    configure_script = "\n".join([
+        "cd $INSTALLDIR",
+        "cp -R $EXT_BUILD_ROOT/{}/. .".format(root),
+        "./bootstrap.sh",
+    ])
+
+    attrs = create_attrs(
+        ctx.attr,
+        configure_name = "BuildBoost",
+        configure_script = configure_script,
+        make_commands = ["./b2 install --prefix=."],
+        static_libraries = [
+          "libboost_atomic.a",
+          "libboost_chrono.a",
+          "libboost_container.a",
+          "libboost_context.a",
+          "libboost_contract.a",
+          "libboost_coroutine.a",
+          "libboost_date_time.a",
+          "libboost_exception.a",
+          "libboost_fiber.a",
+          "libboost_filesystem.a",
+          "libboost_graph.a",
+          "libboost_iostreams.a",
+          "libboost_locale.a",
+          "libboost_log.a",
+          "libboost_log_setup.a",
+          "libboost_math_c99.a",
+          "libboost_math_c99f.a",
+          "libboost_math_c99l.a",
+          "libboost_math_tr1.a",
+          "libboost_math_tr1f.a",
+          "libboost_math_tr1l.a",
+          "libboost_numpy27.a",
+          "libboost_prg_exec_monitor.a",
+          "libboost_program_options.a",
+          "libboost_python27.a",
+          "libboost_random.a",
+          "libboost_regex.a",
+          "libboost_serialization.a",
+          "libboost_signals.a",
+          "libboost_stacktrace_addr2line.a",
+          "libboost_stacktrace_backtrace.a",
+          "libboost_stacktrace_basic.a",
+          "libboost_stacktrace_noop.a",
+          "libboost_system.a",
+          "libboost_test_exec_monitor.a",
+          "libboost_thread.a",
+          "libboost_timer.a",
+          "libboost_type_erasure.a",
+          "libboost_unit_test_framework.a",
+          "libboost_wave.a",
+          "libboost_wserialization.a",
+]
+    )
+    return cc_external_rule_impl(ctx, attrs)
+
+""" Rule for building Boost. Invokes bootstrap.sh and then b2 install.
+  Attributes:
+    boost_srcs - target with the boost sources
+"""
+boost_build = rule(
+    attrs = CC_EXTERNAL_RULE_ATTRIBUTES,
+    fragments = ["cpp"],
+    output_to_genfiles = True,
+    implementation = _boost_build,
+)