[Doc] Add tutorial for using VCPKG on Windows (#4814)

* Added VCPKG tutorial

* Rewording

* Remove specific note about 11(.1)

Author: larshg

doc/tutorials/content/images/vcpkg/cmake_configure_1.png

@@ -97,6 +97,21 @@ Basic Usage
      .. |mi_3| image:: images/pcl_ccmake.png
                :height: 100px
 
+  * :ref:`pcl_vcpkg_windows`
+
+     ======  ======
+     |mi_4|  Title: **Install PCL using VCPKG**
+
+             Author: *Lars Glud*
+
+             Compatibility: PCL version available on VCPKG and Master, unless VCPKG updates a dependency before PCL is ready for it.
+
+             In this tutorial,it is explained how to install PCL or PCL dependencies.
+     ======  ======
+
+     .. |mi_4| image:: images/windows_logo.png
+               :height: 100px
+
   * :ref:`compiling_pcl_dependencies_windows`
 
      ======  ======

doc/tutorials/content/images/vcpkg/cmake_configure_2.png

@@ -0,0 +1,143 @@
+.. _pcl_vcpkg_windows:
+
+Using PCL on windows with VCPKG and CMake
+-----------------------------------------
+
+This tutorial explains how to acquire Point Cloud Library on
+Microsoft Windows platforms using `VCPKG <https://github.com/microsoft/vcpkg>`_.
+
+For additional information how to use VCPKG, please see their `documentation <https://github.com/microsoft/vcpkg/blob/master/docs/README.md>`_.
+
+Last updated: 22. December 2021
+
+.. image:: images/windows_logo.png
+   :alt: Microsoft Windows logo
+   :align: right
+
+.. contents::
+
+
+Requirements
+==================
+
+Download VCPKG sources to eg. *c:\\vcpkg* preferably by cloning their repository.
+
+Navigate to *c:\\vcpkg* in **powershell** and run 
+
+  .\\bootstrap-vcpkg.bat
+  
+This will download vcpkg.exe.
+
+
+PCL's dependencies
+==================
+
+PCL's required dependencies available on VCPKG are:
+
+* Boost
+* FLANN
+* Eigen3
+
+PCL's optional dependencies available on VCPKG are:
+
+* VTK - for visualization module
+  
+  * Feature OpenGL - required
+  * Feature Qt - optional for QVTK, used in apps
+  
+* GLEW - for simulation module
+* Qhull - for convex/concave in surface module
+* Qt - for apps that use Qt for GUI
+* Google Test - for unit tests
+* Google Benchmark - for benchmarks
+* OpenNI2
+* Realsense2
+* PNG - for a single openni app
+* Pcap - for Velodyne HDL driver
+
+PCL's optional dependencies not on VCPKG
+
+* CUDA - only a port that verify its installed (version 10.1).
+* GLUT
+* OpenNI
+* Ensenso
+* davidSDK
+* DSSDK
+* RSSDK
+
+
+Install PCL for usage
+=====================
+
+Running the following command in powershell in the VCPKG directory,
+will install PCL with default options as well as default triplet type (ie. x86).
+
+  ./vcpkg install pcl
+  
+
+.. note::
+
+  If there are new features or bugfixes that are not yet part of a release,
+  you can try to use --head, which downloads the master of PCL.
+  
+You can see the available PCL version and options in VCPKG `here <https://github.com/microsoft/vcpkg/blob/master/ports/pcl/vcpkg.json>`_.
+
+To enable specific features, you need to write:
+
+  ./vcpkg install pcl[qt,vtk]
+
+And all features:
+
+  ./vcpkg install pcl[*]
+
+If you want to install with a different triplet type, the easiest way is:
+
+  ./vcpkg install pcl --triplet triplet_type
+  
+ie.
+ 
+  ./vcpkg install pcl --triplet x64-windows
+
+This will acquire all the dependencies, build them and place the binaries
+in vcpkg/installed/triplet_type/bin for release and vcpkg/installed/triplet_type/debug/bin for debug.
+
+
+Using dependencies installed with VCPKG in CMake projects
+=========================================================
+
+Use `CMake <https://cmake.org/download>`_ to configure projects and remember to pass **vcpkg\\scripts\\buildsystems\\vcpkg.cmake** as toolchain file
+to enable CMake to find all the dependencies installed with VCPKG.
+
+See example below using the cmake window:
+
+.. list-table:: 
+
+    * - .. figure:: images/vcpkg/cmake_configure_1.png
+
+           Fig 1. Cmake configuration
+
+      - .. figure:: images/vcpkg/cmake_configure_2.png
+
+           Fig 2. Cmake configuration with vcpkg tool chain
+           
+
+Find PCL using CMake
+====================
+
+To use PCL in CMake project, take a look at Kunal Tyagi's minimal example `in this repository <https://github.com/kunaltyagi/pcl-cmake-minimum>`_
+
+
+Install PCL dependencies for contributions
+==========================================
+
+If you want to contribute to PCL, the easiest way to get dependencies
+using vcpkg is to run the install command from our `docker file <https://github.com/PointCloudLibrary/pcl/blob/master/.dev/docker/windows/Dockerfile>`_
+
+  ./vcpkg install dependencies_here --triplet triplet_type
+
+Remember to omit the *--clean-after-build*, as this removes the source code of the dependencies and limit debugging capabilities for those.
+
+To build PCL, you would have to get the `source <https://github.com/PointCloudLibrary/pcl>`_, preferably clone it using git.
+
+Use `CMake <https://cmake.org/download>`_ to configure PCL.
+