diff --git a/.appveyor.yml b/.appveyor.yml
index a748ffbba2e..c22cf0fcc7c 100644
--- a/.appveyor.yml
+++ b/.appveyor.yml
@@ -1,26 +1,31 @@
 cache:
-  - c:\tools\vcpkg\installed\
+  - C:\Tools\vcpkg\installed\
+  - C:\Tools\ninja\ninja.exe
 
 configuration: Release
 
 environment:
   VCPKG_DIR: C:\Tools\vcpkg
+  NINJA_DIR: C:\Tools\ninja
+  GENERATOR: Ninja
   matrix:
-    - generator: "Visual Studio 14 2015"
-      APPVEYOR_BUILD_WORKER_IMAGE: "Visual Studio 2015"
-      Platform: x86
-    - generator: "Visual Studio 14 2015 Win64"
-      APPVEYOR_BUILD_WORKER_IMAGE: "Visual Studio 2015"
-      Platform: x64
-    # #Uncoment this block once MSVC2017 is patched.
-    # - generator: "Visual Studio 15 2017"
-    #   APPVEYOR_BUILD_WORKER_IMAGE: "Visual Studio 2017"
-    #   Platform: x86
-    # - generator: "Visual Studio 15 2017 Win64"
-    #   APPVEYOR_BUILD_WORKER_IMAGE: "Visual Studio 2017"
-    #   Platform: x64
+    - APPVEYOR_BUILD_WORKER_IMAGE: 'Visual Studio 2015'
+      PLATFORM: x86
+      VCVARSALL: '%ProgramFiles(x86)%\Microsoft Visual Studio 14.0\VC\vcvarsall.bat'
+      ARCHITECTURE: x86
+    - APPVEYOR_BUILD_WORKER_IMAGE: 'Visual Studio 2015'
+      PLATFORM: x64
+      VCVARSALL: '%ProgramFiles(x86)%\Microsoft Visual Studio 14.0\VC\vcvarsall.bat'
+      ARCHITECTURE: x86_amd64
+    #- APPVEYOR_BUILD_WORKER_IMAGE: 'Visual Studio 2017'
+    #  PLATFORM: x86
+    #  VCVARSALL: '%ProgramFiles(x86)%\Microsoft Visual Studio\2017\Community\VC\Auxiliary\Build\vcvarsall.bat'
+    #  ARCHITECTURE: x86
+    #- APPVEYOR_BUILD_WORKER_IMAGE: 'Visual Studio 2017'
+    #  PLATFORM: x64
+    #  VCVARSALL: '%ProgramFiles(x86)%\Microsoft Visual Studio\2017\Community\VC\Auxiliary\Build\vcvarsall.bat'
+    #  ARCHITECTURE: x86_amd64
 
-# Runs before cache setup
 init:
   - cd %VCPKG_DIR%
   - git pull
@@ -30,24 +35,74 @@ init:
   - cd %APPVEYOR_BUILD_FOLDER%
 
 install:
-  - vcpkg install boost eigen3 flann qhull --triplet %PLATFORM%-windows
+  - vcpkg install 
+      boost-system
+      boost-filesystem
+      boost-thread
+      boost-date-time
+      boost-iostreams
+      boost-chrono
+      boost-asio
+      boost-dynamic-bitset
+      boost-foreach
+      boost-graph
+      boost-interprocess
+      boost-multi-array
+      boost-ptr-container
+      boost-random
+      boost-signals2
+      eigen3
+      flann
+      qhull
+      gtest
+      --triplet %PLATFORM%-windows
+  - vcpkg list
+  - set PATH=%VCPKG_DIR%\installed\%PLATFORM%-windows\bin;%PATH%
+  - if not exist %NINJA_DIR%\ mkdir %NINJA_DIR%
+  - cd %NINJA_DIR%
+  - if not exist ninja.exe appveyor DownloadFile https://github.com/ninja-build/ninja/releases/download/v1.8.2/ninja-win.zip
+  - if not exist ninja.exe 7z x ninja-win.zip
+  - set PATH=%NINJA_DIR%;%PATH%
 
 build:
   parallel: true
 
 build_script:
+  # These tests will fails on Windows.
+  # Therefore, these tests are disabled until fixed.
+  # AppVeyor Log : https://ci.appveyor.com/project/PointCloudLibrary/pcl/build/1.0.267
+  #   * test_2d
+  #   * common_eigen
+  #   * feature_rift_estimation
+  #   * feature_cppf_estimation
+  #   * feature_pfh_estimation
+  #   * filters_sampling
+  #   * io_grabbers
+  #   * registration_api
+  - call "%VCVARSALL%" %ARCHITECTURE%
   - cd %APPVEYOR_BUILD_FOLDER%
   - mkdir build
   - cd build
   - cmake -G"%GENERATOR%"
+          -DCMAKE_C_COMPILER=cl.exe
+          -DCMAKE_CXX_COMPILER=cl.exe
           -DCMAKE_TOOLCHAIN_FILE=%VCPKG_DIR%\scripts\buildsystems\vcpkg.cmake
+          -DVCPKG_APPLOCAL_DEPS=OFF
           -DPCL_BUILD_WITH_BOOST_DYNAMIC_LINKING_WIN32=ON
           -DPCL_BUILD_WITH_FLANN_DYNAMIC_LINKING_WIN32=ON
-          -DPCL_NO_PRECOMPILE=ON
-          -DBUILD_simulation=ON
-          -DBUILD_global_tests=OFF
+          -DPCL_NO_PRECOMPILE=OFF
+          -DBUILD_apps=OFF
           -DBUILD_examples=OFF
+          -DBUILD_global_tests=ON
+          -DBUILD_simulation=OFF
           -DBUILD_tools=OFF
-          -DBUILD_apps=OFF
+          -DBUILD_tests_2d=OFF
+          -DBUILD_tests_common=OFF
+          -DBUILD_tests_features=OFF
+          -DBUILD_tests_filters=OFF
+          -DBUILD_tests_io=OFF
+          -DBUILD_tests_registration=OFF
           ..
   - cmake --build . --config %CONFIGURATION%
+  - ctest -C %CONFIGURATION% -V
+
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0ff2e409006..0405dca23c8 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -205,7 +205,10 @@ set(PCL_OUTPUT_LIB_DIR "${PCL_BINARY_DIR}/${LIB_INSTALL_DIR}")
 set(PCL_OUTPUT_BIN_DIR "${PCL_BINARY_DIR}/${BIN_INSTALL_DIR}")
 make_directory("${PCL_OUTPUT_LIB_DIR}")
 make_directory("${PCL_OUTPUT_BIN_DIR}")
+set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${PCL_OUTPUT_LIB_DIR}")
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${PCL_OUTPUT_BIN_DIR}")
 if(WIN32)
+  set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${PCL_OUTPUT_BIN_DIR}")
   foreach(config ${CMAKE_CONFIGURATION_TYPES})
     string(TOUPPER ${config} CONFIG)
     set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY_${CONFIG} "${PCL_OUTPUT_LIB_DIR}")
@@ -214,8 +217,6 @@ if(WIN32)
     set(CMAKE_LIBRARY_OUTPUT_DIRECTORY_${CONFIG} "${PCL_OUTPUT_BIN_DIR}")
   endforeach(config)
 else(WIN32)
-  set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${PCL_OUTPUT_LIB_DIR}")
-  set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${PCL_OUTPUT_BIN_DIR}")
   set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${PCL_OUTPUT_LIB_DIR}")
 endif(WIN32)
 
diff --git a/PCLConfig.cmake.in b/PCLConfig.cmake.in
index d2e32298869..6350a87b7f7 100644
--- a/PCLConfig.cmake.in
+++ b/PCLConfig.cmake.in
@@ -93,7 +93,7 @@ macro(find_boost)
   else(${CMAKE_VERSION} VERSION_LESS 2.8.5)
     set(Boost_ADDITIONAL_VERSIONS
       "@Boost_MAJOR_VERSION@.@Boost_MINOR_VERSION@.@Boost_SUBMINOR_VERSION@" "@Boost_MAJOR_VERSION@.@Boost_MINOR_VERSION@"
-      "1.65.0" "1.65"
+      "1.66.0" "1.66" "1.65.1" "1.65.0" "1.65"
       "1.64.0" "1.64" "1.63.0" "1.63" "1.62.0" "1.62" "1.61.0" "1.61" "1.60.0" "1.60"
       "1.59.0" "1.59" "1.58.0" "1.58" "1.57.0" "1.57" "1.56.0" "1.56" "1.55.0" "1.55"
       "1.54.0" "1.54" "1.53.0" "1.53" "1.52.0" "1.52" "1.51.0" "1.51"
diff --git a/cmake/pcl_find_boost.cmake b/cmake/pcl_find_boost.cmake
index fece19e15b9..e884dc3d8d8 100644
--- a/cmake/pcl_find_boost.cmake
+++ b/cmake/pcl_find_boost.cmake
@@ -19,7 +19,7 @@ if(${CMAKE_VERSION} VERSION_LESS 2.8.5)
     "1.46.0" "1.46" "1.45.0" "1.45" "1.44.0" "1.44" "1.43.0" "1.43")
 else(${CMAKE_VERSION} VERSION_LESS 2.8.5)
   set(Boost_ADDITIONAL_VERSIONS
-    "1.65.0" "1.65"
+    "1.66.0" "1.66" "1.65.1" "1.65.0" "1.65"
     "1.64.0" "1.64" "1.63.0" "1.63" "1.62.0" "1.62" "1.61.0" "1.61" "1.60.0" "1.60"
     "1.59.0" "1.59" "1.58.0" "1.58" "1.57.0" "1.57" "1.56.0" "1.56" "1.55.0" "1.55"
     "1.54.0" "1.54" "1.53.0" "1.53" "1.52.0" "1.52" "1.51.0" "1.51"