How to install python-pcl with python >=3.7

[votecoffee]

Cython limited to 0.25.2 prevent use in python 3.7 and newer
It would also be nice to be able to use PCL 1.11 if possible

Your Environment

• Operating System and version: Windows 10 x64
• Compiler: VS 2015/2017 build tools, VS 2019 python 3.7 development environment
• PCL Version: 1.11 & 1.9 are both installed
• Cython Version: 0.29.21

Context

I probably won't be able to use python-pcl without a solution

Code to Reproduce

pip install cython
pip install -U setuptools

install VS2015 build tools
install VS2017 build tools
Install PCL All-in-one installer

Add to env vars:
PCL_VERSION = 1.11
PCL_ROOT = C:\Program Files\PCL 1.11.1
PKG_CONFIG_PATH = C:\Program Files\PCL 1.11.1\lib\pkgconfig;C:\Program Files\PCL 1.11.1\3rdParty\FLANN\lib\pkgconfig;C:\Program Files\PCL 1.11.1\3rdParty\Eigen\lib\pkgconfig;

Fix missing dependencies using vcpkg:
vcpkg install pcl:x64-windows

pip install python-pcl

Note that I also tried using 1.9.1 and changed the environment variables accordingly. Both fail to install. 1.11.1 is an unsupported version. 1.9.1 fails because of cython version is too new (await syntax invalid).

Possible Solution

python-pcl is getting pretty far behind python revs