typedefs.h

 #ifndef TYPEDEFS_H
#define TYPEDEFS_H

 #include <pcl-1.6/pcl/point_types.h>
 #include <pcl-1.6/pcl/point_cloud.h>
 
 /* Define some custom types to make the rest of our code easier to read */
 
 // Define "PointCloud" to be a pcl::PointCloud of pcl::PointXYZRGB points
 typedef pcl::PointXYZRGB PointT;
 typedef pcl::PointCloud<PointT> PointCloud;
 typedef pcl::PointCloud<PointT>::Ptr PointCloudPtr;
typedef pcl::PointCloud<PointT>::ConstPtr PointCloudConstPtr;
 
 // Define "SurfaceNormals" to be a pcl::PointCloud of pcl::Normal points
 typedef pcl::Normal NormalT;
 typedef pcl::PointCloud<NormalT> SurfaceNormals;
 typedef pcl::PointCloud<NormalT>::Ptr SurfaceNormalsPtr;
 typedef pcl::PointCloud<NormalT>::ConstPtr SurfaceNormalsConstPtr;
 
 // Define "SurfaceElements" to be a pcl::PointCloud of pcl::PointNormal points
 typedef pcl::PointNormal SurfelT;
 typedef pcl::PointCloud<SurfelT> SurfaceElements;
 typedef pcl::PointCloud<SurfelT>::Ptr SurfaceElementsPtr;
 typedef pcl::PointCloud<SurfelT>::ConstPtr SurfaceElementsConstPtr;
 
 
 // Define "LocalDescriptors" to be a pcl::PointCloud of pcl::FPFHSignature33 points
 typedef pcl::FPFHSignature33 LocalDescriptorT;
 typedef pcl::PointCloud<LocalDescriptorT> LocalDescriptors;
 typedef pcl::PointCloud<LocalDescriptorT>::Ptr LocalDescriptorsPtr;
 typedef pcl::PointCloud<LocalDescriptorT>::ConstPtr LocalDescriptorsConstPtr;
 
 // Define "GlobalDescriptors" to be a pcl::PointCloud of pcl::VFHSignature308 points
 typedef pcl::VFHSignature308 GlobalDescriptorT;
 typedef pcl::PointCloud<GlobalDescriptorT> GlobalDescriptors;
 typedef pcl::PointCloud<GlobalDescriptorT>::Ptr GlobalDescriptorsPtr;
 typedef pcl::PointCloud<GlobalDescriptorT>::ConstPtr GlobalDescriptorsConstPtr;
 
 #endif