WIP: Split common/include/pcl/impl/point_types.hpp

apps/cloud_composer/include/pcl/apps/cloud_composer/items/fpfh_item.h

@@ -41,7 +41,7 @@
 #include <pcl/features/fpfh.h>
 #include <pcl/visualization/pcl_plotter.h>
 #include <pcl/visualization/qvtk_compatibility.h>
-#include <pcl/point_types.h>
+#include <pcl/feature_types.h>
 
 namespace pcl {
 namespace cloud_composer {

common/CMakeLists.txt

@@ -32,6 +32,7 @@ set(range_image_srcs
 
 set(srcs
   src/point_types.cpp
+  src/feature_types.cpp
   src/pcl_base.cpp
   src/PCLPointCloud2.cpp
   src/io.cpp
@@ -63,7 +64,9 @@ set(incs
   include/pcl/type_traits.h
   include/pcl/point_types_conversion.h
   include/pcl/point_representation.h
+  include/pcl/descriptor_size.h
   include/pcl/point_types.h
+  include/pcl/feature_types.h
   include/pcl/for_each_type.h
   include/pcl/pcl_tests.h
   include/pcl/cloud_iterator.h
@@ -150,6 +153,7 @@ set(impl_incs
   include/pcl/impl/pcl_base.hpp
   include/pcl/impl/instantiate.hpp
   include/pcl/impl/point_types.hpp
+  include/pcl/impl/feature_types.hpp
   include/pcl/impl/cloud_iterator.hpp
 )
 

common/include/pcl/descriptor_size.h

@@ -0,0 +1,23 @@
+/*
+ * SPDX-License-Identifier: BSD-3-Clause
+ *  *  Point Cloud Library (PCL) - www.pointclouds.org
+ *  Copyright (c) 2026-, Open Perception Inc.
+ *  *  All rights reserved
+ */
+
+#pragma once
+
+namespace pcl
+{
+  namespace detail
+  {
+    namespace traits
+    {
+      template<typename FeaturePointT> struct descriptorSize {};
+
+
+      template<typename FeaturePointT>
+      static constexpr int descriptorSize_v = descriptorSize<FeaturePointT>::value;
+    }
+  }
+}

common/include/pcl/feature_types.h

@@ -0,0 +1,163 @@
+/*
+ * SPDX-License-Identifier: BSD-3-Clause
+ *  *  Point Cloud Library (PCL) - www.pointclouds.org
+ *  Copyright (c) 2026-, Open Perception Inc.
+ *  *  All rights reserved
+ */
+
+#pragma once
+
+
+/**
+ * \file pcl/feature_types.h
+ * Defines all the PCL implemented PointT feature type structures
+ * \ingroup common
+ */
+
+// Allow nameless structs/unions
+#if defined _MSC_VER
+  #pragma warning(push)
+  #pragma warning(disable: 4201)
+#endif
+
+/** @{*/
+namespace pcl
+{
+  /** \brief Members: float j1, j2, j3
+    * \ingroup common
+    */
+  struct MomentInvariants;
+
+  /** \brief Members: float r_min, r_max
+    * \ingroup common
+    */
+  struct PrincipalRadiiRSD;
+
+  /** \brief Members: std::uint8_t boundary_point
+    * \ingroup common
+    */
+  struct Boundary;
+
+  /** \brief Members: float principal_curvature[3], pc1, pc2
+    * \ingroup common
+    */
+  struct PrincipalCurvatures;
+
+  /** \brief Members: float descriptor[352], rf[9]
+    * \ingroup common
+    */
+  struct SHOT352;
+
+  /** \brief Members: float descriptor[1344], rf[9]
+    * \ingroup common
+    */
+  struct SHOT1344;
+
+  /** \brief Members: Axis x_axis, y_axis, z_axis
+    * \ingroup common
+    */
+  struct ReferenceFrame;
+
+  /** \brief Members: float descriptor[1980], rf[9]
+    * \ingroup common
+    */
+  struct ShapeContext1980;
+
+  /** \brief Members: float descriptor[1960], rf[9]
+    * \ingroup common
+    */
+  struct UniqueShapeContext1960;
+
+  /** \brief Members: float pfh[125]
+    * \ingroup common
+    */
+  struct PFHSignature125;
+
+  /** \brief Members: float pfhrgb[250]
+    * \ingroup common
+    */
+  struct PFHRGBSignature250;
+
+  /** \brief Members: float f1, f2, f3, f4, alpha_m
+    * \ingroup common
+    */
+  struct PPFSignature;
+
+  /** \brief Members: float f1, f2, f3, f4, f5, f6, f7, f8, f9, f10, alpha_m
+    * \ingroup common
+    */
+  struct CPPFSignature;
+
+  /** \brief Members: float f1, f2, f3, f4, r_ratio, g_ratio, b_ratio, alpha_m
+    * \ingroup common
+    */
+  struct PPFRGBSignature;
+
+  /** \brief Members: float values[12]
+    * \ingroup common
+    */
+  struct NormalBasedSignature12;
+
+  /** \brief Members: float fpfh[33]
+    * \ingroup common
+    */
+  struct FPFHSignature33;
+
+  /** \brief Members: float vfh[308]
+    * \ingroup common
+    */
+  struct VFHSignature308;
+
+  /** \brief Members: float grsd[21]
+    * \ingroup common
+    */
+  struct GRSDSignature21;
+
+  /** \brief Members: float esf[640]
+    * \ingroup common
+    */
+  struct ESFSignature640;
+
+  /** \brief Members: float gasd[512]
+  * \ingroup common
+  */
+  struct GASDSignature512;
+
+  /** \brief Members: float gasd[984]
+  * \ingroup common
+  */
+  struct GASDSignature984;
+
+  /** \brief Members: float gasd[7992]
+  * \ingroup common
+  */
+  struct GASDSignature7992;
+
+  /** \brief Members: float histogram[16]
+    * \ingroup common
+    */
+  struct GFPFHSignature16;
+
+  /** \brief Members: float scale; float orientation; std::uint8_t descriptor[64]
+    * \ingroup common
+    */
+  struct BRISKSignature512;
+
+  /** \brief Members: float x, y, z, roll, pitch, yaw; float descriptor[36]
+    * \ingroup common
+    */
+ struct Narf36;
+
+  /** \brief Members: float histogram[N]
+    * \ingroup common
+    */
+  template<int N>
+  struct Histogram;
+} // namespace pcl
+/** @} */
+
+#include <pcl/impl/feature_types.hpp>
+
+#if defined _MSC_VER
+  #pragma warning(pop)
+#endif