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

Provides :
pcl-tools
pcl-tools(x86-64)

Requires :

libpcl_octree.so.1.7()(64bit)
libvtkRenderingFreeTypeOpenGL.so.1()(64bit)
libgomp.so.1(GOMP_1.0)(64bit)
libvtkFiltersModeling.so.1()(64bit)
rtld(GNU_HASH)
libstdc++.so.6(GLIBCXX_3.4.11)(64bit)
libpcl_common.so.1.7()(64bit)
libstdc++.so.6(GLIBCXX_3.4)(64bit)
libvtkIOLegacy.so.1()(64bit)
libpcl_tracking.so.1.7()(64bit)
libvtkRenderingCore.so.1()(64bit)
libvtkRenderingLOD.so.1()(64bit)
libvtkCommonExecutionModel.so.1()(64bit)
libpcl_filters.so.1.7()(64bit)
libOpenNI.so()(64bit)
libpcl_kdtree.so.1.7()(64bit)
libc.so.6(GLIBC_2.14)(64bit)
libc.so.6(GLIBC_2.2.5)(64bit)
libc.so.6(GLIBC_2.3.4)(64bit)
libvtkRenderingVolumeOpenGL.so.1()(64bit)
libvtkCommonMath.so.1()(64bit)
libvtkImagingCore.so.1()(64bit)
libgomp.so.1(OMP_1.0)(64bit)
rpmlib(FileDigests) <= 4.6.0-1
rpmlib(CompressedFileNames) <= 3.0.4-1
libvtkCommonDataModel.so.1()(64bit)
libpcl_people.so.1.7()(64bit)
libc.so.6(GLIBC_2.4)(64bit)
libgomp.so.1()(64bit)
libstdc++.so.6(GLIBCXX_3.4.5)(64bit)
libpcl_recognition.so.1.7()(64bit)
libc.so.6(GLIBC_2.9)(64bit)
libvtkCommonCore.so.1()(64bit)
libc.so.6()(64bit)
libpcl_search.so.1.7()(64bit)
libboost_thread-mt.so.1.53.0()(64bit)
pcl = 1.7.2-1.el7
libpcl_surface.so.1.7()(64bit)
libpcl_segmentation.so.1.7()(64bit)
libvtkRenderingAnnotation.so.1()(64bit)
libstdc++.so.6(GLIBCXX_3.4.15)(64bit)
libvtkFiltersStatisticsGnuR.so.1()(64bit)
libvtkRenderingOpenGL.so.1()(64bit)
libvtkRenderingFreeType.so.1()(64bit)
libvtkFiltersSources.so.1()(64bit)
libvtkRenderingContext2D.so.1()(64bit)
libpcl_outofcore.so.1.7()(64bit)
libboost_system-mt.so.1.53.0()(64bit)
libm.so.6(GLIBC_2.2.5)(64bit)
libvtkIOPLY.so.1()(64bit)
libstdc++.so.6(CXXABI_1.3.1)(64bit)
libpcl_registration.so.1.7()(64bit)
libstdc++.so.6(CXXABI_1.3)(64bit)
libpthread.so.0(GLIBC_2.3.2)(64bit)
libgcc_s.so.1(GCC_3.0)(64bit)
libvtkCommonTransforms.so.1()(64bit)
rpmlib(PayloadIsXz) <= 5.2-1
libpcl_io.so.1.7()(64bit)
libvtkGUISupportQt.so.1()(64bit)
libpcl_sample_consensus.so.1.7()(64bit)
libvtkIOImage.so.1()(64bit)
libpcl_visualization.so.1.7()(64bit)
libQtCore.so.4()(64bit)
libboost_filesystem-mt.so.1.53.0()(64bit)
libpcl_io_ply.so.1.7()(64bit)
libstdc++.so.6()(64bit)
rpmlib(PayloadFilesHavePrefix) <= 4.0-1
libpthread.so.0(GLIBC_2.2.5)(64bit)
libc.so.6(GLIBC_2.3.2)(64bit)
libpthread.so.0()(64bit)
libvtkFiltersGeometry.so.1()(64bit)
libc.so.6(GLIBC_2.8)(64bit)
libc.so.6(GLIBC_2.7)(64bit)
libgcc_s.so.1(GCC_4.0.0)(64bit)
libQtGui.so.4()(64bit)
libstdc++.so.6(GLIBCXX_3.4.9)(64bit)
libvtkInteractionStyle.so.1()(64bit)
libm.so.6()(64bit)
libvtkFiltersCore.so.1()(64bit)
libvtkFiltersGeneral.so.1()(64bit)
libvtkIOGeometry.so.1()(64bit)
libgcc_s.so.1()(64bit)
libpcl_features.so.1.7()(64bit)
libpcl_keypoints.so.1.7()(64bit)
libvtkIOCore.so.1()(64bit)

Content of RPM :
/usr/bin/pcl_add_gaussian_noise
/usr/bin/pcl_boundary_estimation
/usr/bin/pcl_cluster_extraction
/usr/bin/pcl_compute_cloud_error
/usr/bin/pcl_compute_hausdorff
/usr/bin/pcl_compute_hull
/usr/bin/pcl_concatenate_points_pcd
/usr/bin/pcl_convert_pcd_ascii_binary
/usr/bin/pcl_convolve
/usr/bin/pcl_crop_to_hull
/usr/bin/pcl_demean_cloud
/usr/bin/pcl_dinast_grabber
/usr/bin/pcl_elch
/usr/bin/pcl_extract_feature
/usr/bin/pcl_fast_bilateral_filter
/usr/bin/pcl_feature_matching
/usr/bin/pcl_fpfh_estimation
/usr/bin/pcl_generate
/usr/bin/pcl_gp3_surface
/usr/bin/pcl_grid_min
/usr/bin/pcl_ground_based_rgbd_people_detector
/usr/bin/pcl_hdl_grabber
/usr/bin/pcl_hdl_viewer_simple
/usr/bin/pcl_icp
/usr/bin/pcl_icp2d
/usr/bin/pcl_image_grabber_saver
/usr/bin/pcl_image_grabber_viewer
/usr/bin/pcl_linemod_detection
/usr/bin/pcl_local_max
/usr/bin/pcl_lum
There is 106 files more in these RPM.