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find_package(PCL 1.7 REQUIRED) is enough. You dont need to specify the version later on I think.
Check the following question. It gives a good explanation on how to use CMake macros.

Also dont forget to link the libraries:

target_link_libraries(your_executable
${catkin_LIBRARIES}
${OpenCV_LIBRARIES}
)

find_package(PCL 1.7 find_package(OpenCV 4.2.0 REQUIRED) is enough. You dont need to specify the version later on I think.
Check the following question. It gives a good explanation on how to use CMake macros.

Also dont forget to link the libraries:

target_link_libraries(your_executable
${catkin_LIBRARIES}
${OpenCV_LIBRARIES}
)