Hmm ... It's impossible ;-) This RPM doesn't exist on any FTP server

Provides :
pcl-devel
pcl-devel(x86-64)
pkgconfig(pcl_apps-1.7)
pkgconfig(pcl_common-1.7)
pkgconfig(pcl_features-1.7)
pkgconfig(pcl_filters-1.7)
pkgconfig(pcl_geometry-1.7)
pkgconfig(pcl_io-1.7)
pkgconfig(pcl_kdtree-1.7)
pkgconfig(pcl_keypoints-1.7)
pkgconfig(pcl_octree-1.7)
pkgconfig(pcl_outofcore-1.7)
pkgconfig(pcl_people-1.7)
pkgconfig(pcl_recognition-1.7)
pkgconfig(pcl_registration-1.7)
pkgconfig(pcl_sample_consensus-1.7)
pkgconfig(pcl_search-1.7)
pkgconfig(pcl_segmentation-1.7)
pkgconfig(pcl_surface-1.7)
pkgconfig(pcl_tracking-1.7)
pkgconfig(pcl_visualization-1.7)

Requires :

libpcl_octree.so.1.7()(64bit)
libpcl_search.so.1.7()(64bit)
vtk-devel
pcl = 1.7.2-1.el7
flann-devel
libpcl_surface.so.1.7()(64bit)
libpcl_segmentation.so.1.7()(64bit)
pkgconfig(pcl_sample_consensus-1.7)
eigen3-devel
libpcl_common.so.1.7()(64bit)
libpcl_outofcore.so.1.7()(64bit)
libpcl_tracking.so.1.7()(64bit)
libpcl_registration.so.1.7()(64bit)
libpcl_apps.so.1.7()(64bit)
rpmlib(PayloadIsXz) <= 5.2-1
libpcl_io.so.1.7()(64bit)
openni-devel
cminpack-devel
pkgconfig(flann)
qhull-devel
pkgconfig(pcl_search-1.7)
libpcl_filters.so.1.7()(64bit)
libpcl_sample_consensus.so.1.7()(64bit)
pkgconfig(pcl_octree-1.7)
libpcl_kdtree.so.1.7()(64bit)
libpcl_visualization.so.1.7()(64bit)
pkgconfig
libpcl_io_ply.so.1.7()(64bit)
rpmlib(PayloadFilesHavePrefix) <= 4.0-1
rpmlib(FileDigests) <= 4.6.0-1
rpmlib(CompressedFileNames) <= 3.0.4-1
libpcl_people.so.1.7()(64bit)
/usr/bin/pkg-config
pkgconfig(pcl_filters-1.7)
pkgconfig(pcl_geometry-1.7)
pkgconfig(pcl_kdtree-1.7)
pkgconfig(pcl_features-1.7)
libpcl_features.so.1.7()(64bit)
libpcl_recognition.so.1.7()(64bit)
libpcl_keypoints.so.1.7()(64bit)
pkgconfig(pcl_common-1.7)

Content of RPM :
/usr/include/pcl-1.7
/usr/include/pcl-1.7/pcl
/usr/include/pcl-1.7/pcl/ModelCoefficients.h
/usr/include/pcl-1.7/pcl/PCLHeader.h
/usr/include/pcl-1.7/pcl/PCLImage.h
/usr/include/pcl-1.7/pcl/PCLPointCloud2.h
/usr/include/pcl-1.7/pcl/PCLPointField.h
/usr/include/pcl-1.7/pcl/PointIndices.h
/usr/include/pcl-1.7/pcl/PolygonMesh.h
/usr/include/pcl-1.7/pcl/TextureMesh.h
/usr/include/pcl-1.7/pcl/Vertices.h
/usr/include/pcl-1.7/pcl/apps
/usr/include/pcl-1.7/pcl/apps/dominant_plane_segmentation.h
/usr/include/pcl-1.7/pcl/apps/impl
/usr/include/pcl-1.7/pcl/apps/impl/dominant_plane_segmentation.hpp
/usr/include/pcl-1.7/pcl/apps/render_views_tesselated_sphere.h
/usr/include/pcl-1.7/pcl/apps/timer.h
/usr/include/pcl-1.7/pcl/cloud_iterator.h
/usr/include/pcl-1.7/pcl/common
/usr/include/pcl-1.7/pcl/common/angles.h
/usr/include/pcl-1.7/pcl/common/bivariate_polynomial.h
/usr/include/pcl-1.7/pcl/common/boost.h
/usr/include/pcl-1.7/pcl/common/centroid.h
/usr/include/pcl-1.7/pcl/common/common.h
/usr/include/pcl-1.7/pcl/common/common_headers.h
/usr/include/pcl-1.7/pcl/common/concatenate.h
/usr/include/pcl-1.7/pcl/common/conversions.h
/usr/include/pcl-1.7/pcl/common/copy_point.h
/usr/include/pcl-1.7/pcl/common/distances.h
/usr/include/pcl-1.7/pcl/common/eigen.h
There is 934 files more in these RPM.