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Install PCL
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To install the PCL library, it is recommended to first install a package manager. PCL lists a few package managers based on the user’s OS. You can check that here: https://pointclouds.org/downloads/.

For Windows, we have used vcpkg. To use vcpkg to install PCL, follow the steps below:

(Before you install PCL using vcpkg, ensure you have an instance of Visual Studio installed on your system. PCL installation will fail if it cannot find an instance of Visual Studio. Visual Studio 2022 Community is a readily available choice.)

1.	Navigate to the following branch on the vcpkg repo: https://github.com/microsoft/vcpkg/tree/c16ca0583e56cd45b7a1454de81858df4d521243
2.	Git clone this repo onto your PC or download as a ZIP folder. Note: ensure the file path of this folder does not have any spaces in it, and the file path is as short as possible – failing to do this can affect the PCL installation later down the line.
3.	Navigate to vcpkg-master folder, and execute this through the terminal: .\bootstrap-vcpkg.bat 
4.	Execute the following command to install PCL: vcpkg install pcl[vtk]. This will install all the PCL libraries + VTK libraries (visual add-ons). Be sure to specify vtk in your installation to install the visualization capabilities offered by PCL – the default installation does not include this.

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Install Coloring library
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There are several third-party libraries that can be used to color point clouds. We used cppturbo, which is a header-only implementation for coloring point clouds. 
It is available here: https://github.com/tatsuya-s/cppturbo

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Installing OpenCV
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Two of the example scripts also use the OpenCV library. If you do not already have this installed, please look through our KB article on installing and using OpenCV: https://support.thinklucid.com/using-opencv-with-arena-sdk-on-windows/

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Adding paths to system variables
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1. Navigate to your system's Environment Variables
2. Under 'System variables', add a new variable called 'PCL_ROOT' and set its value to the folder path of the vcpkg folder (e.g. C:\Users\<username>\Downloads\vcpkg if you installed as a zip folder here)
3. Add another variable called 'TURBO_ROOT' and set its value to the folder path of the cppturbo-master (e.g. C:\Users\<username>\Downloads\cppturbo-master if you installed cppturbo-master here)
4. Add another variable called 'OPENCV_ROOT' and set its value to the folder path of the opencv folder (e.g. C:\opencv)
4. After downloading our example zip folder, navigate to the folder Cpp_HTP_PCL\DLLs, copy its path and add it to your PATH variable. 


