feature_types.hpp

/*
 * SPDX-License-Identifier: BSD-3-Clause
 *  *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2026-, Open Perception Inc.
 *  *  All rights reserved
 */
 
#pragma once
 
#include <pcl/pcl_macros.h>             // for PCL_IF_CONSTEXPR
#include <pcl/memory.h>                 // for PCL_MAKE_ALIGNED_OPERATOR_NEW
#include <pcl/feature_types.h>          // implementee
#include <pcl/pcl_exports.h>            // for PCL_EXPORTS
#include <pcl/register_point_struct.h>  // for POINT_CLOUD_REGISTER_POINT_STRUCT
#include <pcl/type_traits.h>            // for asEnum which is used internally in POINT_CLOUD_REGISTER_POINT_STRUCT
 
#include <ostream>                      // for ostream, operator<<
 
namespace pcl
{
  namespace detail
  {
    namespace traits
    {
      template<typename FeaturePointT> struct descriptorSize {};
 
      template<> struct descriptorSize<SHOT352> { static constexpr const int value = 352; };
      template<> struct descriptorSize<SHOT1344> { static constexpr const int value = 1344; };
      template<> struct descriptorSize<ShapeContext1980> { static constexpr const int value = 1980; };
      template<> struct descriptorSize<UniqueShapeContext1960> { static constexpr const int value = 1960; };
      template<> struct descriptorSize<PFHSignature125> { static constexpr const int value = 125; };
      template<> struct descriptorSize<PFHRGBSignature250> { static constexpr const int value = 250; };
      template<> struct descriptorSize<NormalBasedSignature12> { static constexpr const int value = 12; };
      template<> struct descriptorSize<FPFHSignature33> { static constexpr const int value = 33; };
      template<> struct descriptorSize<VFHSignature308> { static constexpr const int value = 308; };
      template<> struct descriptorSize<GRSDSignature21> { static constexpr const int value = 21; };
      template<> struct descriptorSize<ESFSignature640> { static constexpr const int value = 640; };
      template<> struct descriptorSize<GASDSignature512> { static constexpr const int value = 512; };
      template<> struct descriptorSize<GASDSignature984> { static constexpr const int value = 984; };
      template<> struct descriptorSize<GASDSignature7992> { static constexpr const int value = 7992; };
      template<> struct descriptorSize<GFPFHSignature16> { static constexpr const int value = 16; };
      template<> struct descriptorSize<BRISKSignature512> { static constexpr const int value = 64; };
      template<> struct descriptorSize<Narf36> { static constexpr const int value = 36; };
      template<int N> struct descriptorSize<Histogram<N>> { static constexpr const int value = N; };
 
      template<typename FeaturePointT>
      static constexpr int descriptorSize_v = descriptorSize<FeaturePointT>::value;
    }
  }
  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const MomentInvariants& p);
  /** \brief A point structure representing the three moment invariants.
    * \ingroup common
    */
  struct MomentInvariants
  {
    float j1 = 0.f, j2 = 0.f, j3 = 0.f;
 
    inline constexpr MomentInvariants () = default;
 
    inline constexpr MomentInvariants (float _j1, float _j2, float _j3): j1 (_j1), j2 (_j2), j3 (_j3) {}
 
    friend std::ostream& operator << (std::ostream& os, const MomentInvariants& p);
  };
 
  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const PrincipalRadiiRSD& p);
  /** \brief A point structure representing the minimum and maximum surface radii (in meters) computed using RSD.
    * \ingroup common
    */
  struct PrincipalRadiiRSD
  {
    float r_min = 0.f, r_max = 0.f;
 
    inline constexpr PrincipalRadiiRSD () = default;
 
    inline constexpr PrincipalRadiiRSD (float _r_min, float _r_max): r_min (_r_min), r_max (_r_max) {}
 
    friend std::ostream& operator << (std::ostream& os, const PrincipalRadiiRSD& p);
  };
 
  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const Boundary& p);
  /** \brief A point structure representing a description of whether a point is lying on a surface boundary or not.
    * \ingroup common
    */
  struct Boundary
  {
    std::uint8_t boundary_point = 0;
 
#if defined(_LIBCPP_VERSION) && _LIBCPP_VERSION <= 1101
    constexpr operator unsigned char() const
    {
      return boundary_point;
    }
#endif
 
    inline constexpr Boundary (std::uint8_t _boundary = 0): boundary_point (_boundary) {}
 
    friend std::ostream& operator << (std::ostream& os, const Boundary& p);
  };
 
  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const PrincipalCurvatures& p);
  /** \brief A point structure representing the principal curvatures and their magnitudes.
    * \ingroup common
    */
  struct PrincipalCurvatures
  {
    union
    {
      float principal_curvature[3];
      struct
      {
        float principal_curvature_x;
        float principal_curvature_y;
        float principal_curvature_z;
      };
    };
    float pc1 = 0.f;
    float pc2 = 0.f;
 
    inline constexpr PrincipalCurvatures (): PrincipalCurvatures (0.f, 0.f) {}
 
    inline constexpr PrincipalCurvatures (float _pc1, float _pc2): PrincipalCurvatures (0.f, 0.f, 0.f, _pc1, _pc2) {}
 
    inline constexpr PrincipalCurvatures (float _x, float _y, float _z): PrincipalCurvatures (_x, _y, _z, 0.f, 0.f) {}
 
    inline constexpr PrincipalCurvatures (float _x, float _y, float _z, float _pc1, float _pc2):
      principal_curvature_x (_x), principal_curvature_y (_y), principal_curvature_z (_z), pc1 (_pc1), pc2 (_pc2) {}
 
    friend std::ostream& operator << (std::ostream& os, const PrincipalCurvatures& p);
  };
 
  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const SHOT352& p);
  /** \brief A point structure representing the generic Signature of Histograms of OrienTations (SHOT) - shape only.
    * \ingroup common
    */
  struct SHOT352
  {
    float descriptor[352] = {0.f};
    float rf[9] = {0.f};
    static constexpr int descriptorSize () { return detail::traits::descriptorSize_v<SHOT352>; }
 
    inline constexpr SHOT352 () = default;
 
    friend std::ostream& operator << (std::ostream& os, const SHOT352& p);
  };
 
  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const SHOT1344& p);
  /** \brief A point structure representing the generic Signature of Histograms of OrienTations (SHOT) - shape+color.
    * \ingroup common
    */
  struct SHOT1344
  {
    float descriptor[1344] = {0.f};
    float rf[9] = {0.f};
    static constexpr int descriptorSize () { return detail::traits::descriptorSize_v<SHOT1344>; }
 
    inline constexpr SHOT1344 () = default;
 
    friend std::ostream& operator << (std::ostream& os, const SHOT1344& p);
  };
 
  /** \brief A structure representing the Local Reference Frame of a point.
    *  \ingroup common
    */
  struct EIGEN_ALIGN16 _ReferenceFrame
  {
    union
    {
      float rf[9];
      struct
      {
        float x_axis[3];
        float y_axis[3];
        float z_axis[3];
      };
    };
 
    inline Eigen::Map<Eigen::Vector3f> getXAxisVector3fMap () { return (Eigen::Vector3f::Map (x_axis)); }
    inline const Eigen::Map<const Eigen::Vector3f> getXAxisVector3fMap () const { return (Eigen::Vector3f::Map (x_axis)); }
    inline Eigen::Map<Eigen::Vector3f> getYAxisVector3fMap () { return (Eigen::Vector3f::Map (y_axis)); }
    inline const Eigen::Map<const Eigen::Vector3f> getYAxisVector3fMap () const { return (Eigen::Vector3f::Map (y_axis)); }
    inline Eigen::Map<Eigen::Vector3f> getZAxisVector3fMap () { return (Eigen::Vector3f::Map (z_axis)); }
    inline const Eigen::Map<const Eigen::Vector3f> getZAxisVector3fMap () const { return (Eigen::Vector3f::Map (z_axis)); }
    inline Eigen::Map<Eigen::Matrix3f> getMatrix3fMap () { return (Eigen::Matrix3f::Map (rf)); }
    inline const Eigen::Map<const Eigen::Matrix3f> getMatrix3fMap () const { return (Eigen::Matrix3f::Map (rf)); }
 
    PCL_MAKE_ALIGNED_OPERATOR_NEW
  };
 
  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const ReferenceFrame& p);
  struct EIGEN_ALIGN16 ReferenceFrame : public _ReferenceFrame
  {
    inline constexpr ReferenceFrame (const _ReferenceFrame &p) :
      ReferenceFrame{p.rf}
    {
      //std::copy_n(p.rf, 9, rf); // this algorithm is constexpr starting from C++20
    }
 
    inline constexpr ReferenceFrame () :
      _ReferenceFrame{ {{0.0f}} }
    {
      // this algorithm is constexpr starting from C++20
      /*std::fill_n(x_axis, 3, 0.f);
      std::fill_n(y_axis, 3, 0.f);
      std::fill_n(z_axis, 3, 0.f);*/
    }
 
    inline constexpr ReferenceFrame (const float (&_rf)[9]) :
      _ReferenceFrame{ {{_rf[0], _rf[1], _rf[2], _rf[3], _rf[4], _rf[5], _rf[6], _rf[7], _rf[8]}} } {}
 
    friend std::ostream& operator << (std::ostream& os, const ReferenceFrame& p);
    PCL_MAKE_ALIGNED_OPERATOR_NEW
  };
 
  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const ShapeContext1980& p);
  /** \brief A point structure representing a Shape Context.
    * \ingroup common
    */
  struct ShapeContext1980
  {
    float descriptor[1980] = {0.f};
    float rf[9] = {0.f};
    static constexpr int descriptorSize () { return detail::traits::descriptorSize_v<ShapeContext1980>; }
 
    inline constexpr ShapeContext1980 () = default;
 
    friend std::ostream& operator << (std::ostream& os, const ShapeContext1980& p);
  };
 
  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const UniqueShapeContext1960& p);
  /** \brief A point structure representing a Unique Shape Context.
    * \ingroup common
    */
  struct UniqueShapeContext1960
  {
    float descriptor[1960] = {0.f};
    float rf[9] = {0.f};
    static constexpr int descriptorSize () { return detail::traits::descriptorSize_v<UniqueShapeContext1960>; }
 
    inline constexpr UniqueShapeContext1960 () = default;
 
    friend std::ostream& operator << (std::ostream& os, const UniqueShapeContext1960& p);
  };
 
  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const PFHSignature125& p);
  /** \brief A point structure representing the Point Feature Histogram (PFH).
    * \ingroup common
    */
  struct PFHSignature125
  {
    float histogram[125] = {0.f};
    static constexpr int descriptorSize () { return detail::traits::descriptorSize_v<PFHSignature125>; }
 
    inline constexpr PFHSignature125 () = default;
 
    friend std::ostream& operator << (std::ostream& os, const PFHSignature125& p);
  };
 
  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const PFHRGBSignature250& p);
  /** \brief A point structure representing the Point Feature Histogram with colors (PFHRGB).
    * \ingroup common
    */
  struct PFHRGBSignature250
  {
    float histogram[250] = {0.f};
    static constexpr int descriptorSize () { return detail::traits::descriptorSize_v<PFHRGBSignature250>; }
 
    inline constexpr PFHRGBSignature250 () = default;
 
    friend std::ostream& operator << (std::ostream& os, const PFHRGBSignature250& p);
  };
 
  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const PPFSignature& p);
  /** \brief A point structure for storing the Point Pair Feature (PPF) values
    * \ingroup common
    */
  struct PPFSignature
  {
    float f1 = 0.f, f2 = 0.f, f3 = 0.f, f4 = 0.f;
    float alpha_m = 0.f;
 
    inline constexpr PPFSignature (float _alpha = 0.f): PPFSignature (0.f, 0.f, 0.f, 0.f, _alpha) {}
 
    inline constexpr PPFSignature (float _f1, float _f2, float _f3, float _f4, float _alpha = 0.f):
      f1 (_f1), f2 (_f2), f3 (_f3), f4 (_f4), alpha_m (_alpha) {}
 
    friend std::ostream& operator << (std::ostream& os, const PPFSignature& p);
  };
 
  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const CPPFSignature& p);
  /** \brief A point structure for storing the Point Pair Feature (CPPF) values
    * \ingroup common
    */
  struct CPPFSignature
  {
    float f1, f2, f3, f4, f5, f6, f7, f8, f9, f10;
    float alpha_m;
 
    inline constexpr CPPFSignature (float _alpha = 0.f):
      CPPFSignature (0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, _alpha) {}
 
    inline constexpr CPPFSignature (float _f1, float _f2, float _f3, float _f4, float _f5, float _f6,
                          float _f7, float _f8, float _f9, float _f10, float _alpha = 0.f):
      f1 (_f1), f2 (_f2), f3 (_f3), f4 (_f4), f5 (_f5), f6 (_f6),
      f7 (_f7), f8 (_f8), f9 (_f9), f10 (_f10), alpha_m (_alpha) {}
 
    friend std::ostream& operator << (std::ostream& os, const CPPFSignature& p);
  };
 
  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const PPFRGBSignature& p);
  /** \brief A point structure for storing the Point Pair Color Feature (PPFRGB) values
    * \ingroup common
    */
  struct PPFRGBSignature
  {
    float f1 = 0.f, f2 = 0.f, f3 = 0.f, f4 = 0.f;
    float r_ratio = 0.f, g_ratio = 0.f, b_ratio = 0.f;
    float alpha_m = 0.f;
 
    inline constexpr PPFRGBSignature (float _alpha = 0.f): PPFRGBSignature (0.f, 0.f, 0.f, 0.f, _alpha) {}
 
    inline constexpr PPFRGBSignature (float _f1, float _f2, float _f3, float _f4, float _alpha = 0.f):
      PPFRGBSignature (_f1, _f2, _f3, _f4, _alpha, 0.f, 0.f, 0.f) {}
 
    inline constexpr PPFRGBSignature (float _f1, float _f2, float _f3, float _f4, float _alpha, float _r, float _g, float _b):
      f1 (_f1), f2 (_f2), f3 (_f3), f4 (_f4), r_ratio (_r), g_ratio (_g), b_ratio (_b), alpha_m (_alpha) {}
 
    friend std::ostream& operator << (std::ostream& os, const PPFRGBSignature& p);
  };
 
  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const NormalBasedSignature12& p);
  /** \brief A point structure representing the Normal Based Signature for
    * a feature matrix of 4-by-3
    * \ingroup common
    */
  struct NormalBasedSignature12
  {
    float values[12] = {0.f};
 
    inline constexpr NormalBasedSignature12 () = default;
 
    friend std::ostream& operator << (std::ostream& os, const NormalBasedSignature12& p);
  };
 
  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const FPFHSignature33& p);
  /** \brief A point structure representing the Fast Point Feature Histogram (FPFH).
    * \ingroup common
    */
  struct FPFHSignature33
  {
    float histogram[33] = {0.f};
    static constexpr int descriptorSize () { return detail::traits::descriptorSize_v<FPFHSignature33>; }
 
    inline constexpr FPFHSignature33 () = default;
 
    friend std::ostream& operator << (std::ostream& os, const FPFHSignature33& p);
  };
 
  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const VFHSignature308& p);
  /** \brief A point structure representing the Viewpoint Feature Histogram (VFH).
    * \ingroup common
    */
  struct VFHSignature308
  {
    float histogram[308] = {0.f};
    static constexpr int descriptorSize () { return detail::traits::descriptorSize_v<VFHSignature308>; }
 
    inline constexpr VFHSignature308 () = default;
 
    friend std::ostream& operator << (std::ostream& os, const VFHSignature308& p);
  };
 
  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const GRSDSignature21& p);
  /** \brief A point structure representing the Global Radius-based Surface Descriptor (GRSD).
    * \ingroup common
    */
  struct GRSDSignature21
  {
    float histogram[21] = {0.f};
    static constexpr int descriptorSize () { return detail::traits::descriptorSize_v<GRSDSignature21>; }
 
    inline constexpr GRSDSignature21 () = default;
 
    friend std::ostream& operator << (std::ostream& os, const GRSDSignature21& p);
  };
 
  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const ESFSignature640& p);
  /** \brief A point structure representing the Ensemble of Shape Functions (ESF).
    * \ingroup common
    */
  struct ESFSignature640
  {
    float histogram[640] = {0.f};
    static constexpr int descriptorSize () { return detail::traits::descriptorSize_v<ESFSignature640>; }
 
    inline constexpr ESFSignature640 () = default;
 
    friend std::ostream& operator << (std::ostream& os, const ESFSignature640& p);
  };
 
  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const GASDSignature512& p);
  /** \brief A point structure representing the Globally Aligned Spatial Distribution (GASD) shape descriptor.
  * \ingroup common
  */
  struct GASDSignature512
  {
    float histogram[512] = {0.f};
    static constexpr int descriptorSize() { return detail::traits::descriptorSize_v<GASDSignature512>; }
 
    inline constexpr GASDSignature512 () = default;
 
    friend std::ostream& operator << (std::ostream& os, const GASDSignature512& p);
  };
 
  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const GASDSignature984& p);
  /** \brief A point structure representing the Globally Aligned Spatial Distribution (GASD) shape and color descriptor.
  * \ingroup common
  */
  struct GASDSignature984
  {
    float histogram[984] = {0.f};
    static constexpr int descriptorSize() { return detail::traits::descriptorSize_v<GASDSignature984>; }
 
    inline constexpr GASDSignature984 () = default;
 
    friend std::ostream& operator << (std::ostream& os, const GASDSignature984& p);
  };
 
  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const GASDSignature7992& p);
  /** \brief A point structure representing the Globally Aligned Spatial Distribution (GASD) shape and color descriptor.
  * \ingroup common
  */
  struct GASDSignature7992
  {
    float histogram[7992] = {0.f};
    static constexpr int descriptorSize() { return detail::traits::descriptorSize_v<GASDSignature7992>; }
 
    inline constexpr GASDSignature7992 () = default;
 
    friend std::ostream& operator << (std::ostream& os, const GASDSignature7992& p);
  };
 
  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const GFPFHSignature16& p);
  /** \brief A point structure representing the GFPFH descriptor with 16 bins.
    * \ingroup common
    */
  struct GFPFHSignature16
  {
    float histogram[16] = {0.f};
    static constexpr int descriptorSize () { return detail::traits::descriptorSize_v<GFPFHSignature16>; }
 
    inline constexpr GFPFHSignature16 () = default;
 
    friend std::ostream& operator << (std::ostream& os, const GFPFHSignature16& p);
  };
 
  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const BRISKSignature512& p);
  /** \brief A point structure representing the Binary Robust Invariant Scalable Keypoints (BRISK).
    * \ingroup common
    */
  struct BRISKSignature512
  {
    float scale = 0.f;
    float orientation = 0.f;
    unsigned char descriptor[64] = {0};
    static constexpr int descriptorSize () { return detail::traits::descriptorSize_v<BRISKSignature512>; }
 
    inline constexpr BRISKSignature512 () = default;
 
    inline constexpr BRISKSignature512 (float _scale, float _orientation): scale (_scale), orientation (_orientation) {}
 
    friend std::ostream& operator << (std::ostream& os, const BRISKSignature512& p);
  };
 
  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const Narf36& p);
  /** \brief A point structure representing the Narf descriptor.
    * \ingroup common
    */
  struct Narf36
  {
    float x = 0.f, y = 0.f, z = 0.f, roll = 0.f, pitch = 0.f, yaw = 0.f;
    float descriptor[36] = {0.f};
    static constexpr int descriptorSize () { return detail::traits::descriptorSize_v<Narf36>; }
 
    inline constexpr Narf36 () = default;
 
    inline constexpr Narf36 (float _x, float _y, float _z): Narf36 (_x, _y, _z, 0.f, 0.f, 0.f) {}
 
    inline constexpr Narf36 (float _x, float _y, float _z, float _roll, float _pitch, float _yaw):
      x (_x), y (_y), z (_z), roll (_roll), pitch (_pitch), yaw (_yaw) {}
 
    friend std::ostream& operator << (std::ostream& os, const Narf36& p);
  };
 
  // TODO: Maybe make other histogram based structs an alias for this
  /** \brief A point structure representing an N-D histogram.
    * \ingroup common
    */
  template <int N>
  struct Histogram
  {
    float histogram[N];
    static constexpr int descriptorSize () { return detail::traits::descriptorSize_v<Histogram<N>>; }
  };
 
  template <int N> std::ostream&
  operator << (std::ostream& os, const Histogram<N>& p)
  {
    // make constexpr
    PCL_IF_CONSTEXPR(N > 0)
    {
        os << "(" << p.histogram[0];
        std::for_each(p.histogram + 1, std::end(p.histogram),
            [&os](const auto& hist) { os << ", " << hist; });
        os << ")";
    }
    return (os);
  }
} // namespace pcl
 
POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::MomentInvariants,
    (float, j1, j1)
    (float, j2, j2)
    (float, j3, j3)
)
 
POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::PrincipalRadiiRSD,
    (float, r_min, r_min)
    (float, r_max, r_max)
)
 
POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::Boundary,
    (std::uint8_t, boundary_point, boundary_point)
)
 
POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::PrincipalCurvatures,
    (float, principal_curvature_x, principal_curvature_x)
    (float, principal_curvature_y, principal_curvature_y)
    (float, principal_curvature_z, principal_curvature_z)
    (float, pc1, pc1)
    (float, pc2, pc2)
)
 
POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::SHOT352,
    (float[352], descriptor, shot)
    (float[9], rf, rf)
)
 
POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::SHOT1344,
    (float[1344], descriptor, shot)
    (float[9], rf, rf)
)
 
POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::_ReferenceFrame,
    (float[3], x_axis, x_axis)
    (float[3], y_axis, y_axis)
    (float[3], z_axis, z_axis)
)
POINT_CLOUD_REGISTER_POINT_WRAPPER(pcl::ReferenceFrame, pcl::_ReferenceFrame)
 
POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::ShapeContext1980,
    (float[1980], descriptor, shape_context)
    (float[9], rf, rf)
)
 
POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::UniqueShapeContext1960,
    (float[1960], descriptor, shape_context)
    (float[9], rf, rf)
)
 
POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::PFHSignature125,
    (float[125], histogram, pfh)
)
 
POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::PFHRGBSignature250,
    (float[250], histogram, pfhrgb)
)
 
POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::PPFSignature,
    (float, f1, f1)
    (float, f2, f2)
    (float, f3, f3)
    (float, f4, f4)
    (float, alpha_m, alpha_m)
)
 
POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::CPPFSignature,
    (float, f1, f1)
    (float, f2, f2)
    (float, f3, f3)
    (float, f4, f4)
    (float, f5, f5)
    (float, f6, f6)
    (float, f7, f7)
    (float, f8, f8)
    (float, f9, f9)
    (float, f10, f10)
    (float, alpha_m, alpha_m)
)
 
POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::PPFRGBSignature,
    (float, f1, f1)
    (float, f2, f2)
    (float, f3, f3)
    (float, f4, f4)
    (float, r_ratio, r_ratio)
    (float, g_ratio, g_ratio)
    (float, b_ratio, b_ratio)
    (float, alpha_m, alpha_m)
)
 
POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::NormalBasedSignature12,
    (float[12], values, values)
)
 
POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::FPFHSignature33,
    (float[33], histogram, fpfh)
)
 
POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::VFHSignature308,
    (float[308], histogram, vfh)
)
 
POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::GRSDSignature21,
    (float[21], histogram, grsd)
)
 
POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::ESFSignature640,
    (float[640], histogram, esf)
)
 
POINT_CLOUD_REGISTER_POINT_STRUCT(pcl::GASDSignature512,
    (float[512], histogram, gasd)
)
 
POINT_CLOUD_REGISTER_POINT_STRUCT(pcl::GASDSignature984,
    (float[984], histogram, gasd)
)
 
POINT_CLOUD_REGISTER_POINT_STRUCT(pcl::GASDSignature7992,
    (float[7992], histogram, gasd)
)
 
POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::GFPFHSignature16,
    (float[16], histogram, gfpfh)
)
 
POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::BRISKSignature512,
    (float, scale, brisk_scale)
    (float, orientation, brisk_orientation)
    (unsigned char[64], descriptor, brisk_descriptor512)
)
 
POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::Narf36,
    (float[36], descriptor, descriptor)
)