/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010, Willow Garage, Inc.
 *  Copyright (c) 2012-, Open Perception, Inc.
 *
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 *
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 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
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 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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 */

#pragma once

#include <pcl/memory.h>                 // for PCL_MAKE_ALIGNED_OPERATOR_NEW
#include <pcl/pcl_config.h>             // for PCL_XYZ_POINT_TYPES, PCL_NORMAL_POINT_TYPES
#include <pcl/pcl_macros.h>             // for PCL_EXPORTS
#include <pcl/PCLPointField.h>          // for PCLPointField
#include <pcl/point_types.h>            // implementee
#include <pcl/register_point_struct.h>  // for POINT_CLOUD_REGISTER_POINT_STRUCT, POINT_CLOUD_REGISTER_POINT_WRAPPER

#include <boost/mpl/and.hpp>            // for boost::mpl::and_
#include <boost/mpl/bool.hpp>           // for boost::mpl::bool_
#include <boost/mpl/contains.hpp>       // for boost::mpl::contains
#include <boost/mpl/fold.hpp>           // for boost::mpl::fold
#include <boost/mpl/or.hpp>             // for boost::mpl::or_
#include <boost/mpl/placeholders.hpp>   // for boost::mpl::_1, boost::mpl::_2
#include <boost/mpl/vector.hpp>         // for boost::mpl::vector

#include <Eigen/Core>                   // for MatrixMap

#include <algorithm>                    // for copy_n, fill_n
#include <cstdint>                      // for uint8_t, uint32_t
#include <ostream>                      // for ostream, operator<<
#include <type_traits>                  // for enable_if_t

// Define all PCL point types
#define PCL_POINT_TYPES         \
  (pcl::PointXYZ)               \
  (pcl::PointXYZI)              \
  (pcl::PointXYZL)              \
  (pcl::Label)                  \
  (pcl::PointXYZRGBA)           \
  (pcl::PointXYZRGB)            \
  (pcl::PointXYZRGBL)           \
  (pcl::PointXYZLAB)            \
  (pcl::PointXYZHSV)            \
  (pcl::PointXY)                \
  (pcl::InterestPoint)          \
  (pcl::Axis)                   \
  (pcl::Normal)                 \
  (pcl::PointNormal)            \
  (pcl::PointXYZRGBNormal)      \
  (pcl::PointXYZINormal)        \
  (pcl::PointXYZLNormal)        \
  (pcl::PointWithRange)         \
  (pcl::PointWithViewpoint)     \
  (pcl::MomentInvariants)       \
  (pcl::PrincipalRadiiRSD)      \
  (pcl::Boundary)               \
  (pcl::PrincipalCurvatures)    \
  (pcl::PFHSignature125)        \
  (pcl::PFHRGBSignature250)     \
  (pcl::PPFSignature)           \
  (pcl::CPPFSignature)          \
  (pcl::PPFRGBSignature)        \
  (pcl::NormalBasedSignature12) \
  (pcl::FPFHSignature33)        \
  (pcl::VFHSignature308)        \
  (pcl::GASDSignature512)       \
  (pcl::GASDSignature984)       \
  (pcl::GASDSignature7992)      \
  (pcl::GRSDSignature21)        \
  (pcl::ESFSignature640)        \
  (pcl::BRISKSignature512)      \
  (pcl::Narf36)                 \
  (pcl::IntensityGradient)      \
  (pcl::PointWithScale)         \
  (pcl::PointSurfel)            \
  (pcl::ShapeContext1980)       \
  (pcl::UniqueShapeContext1960) \
  (pcl::SHOT352)                \
  (pcl::SHOT1344)               \
  (pcl::PointUV)                \
  (pcl::ReferenceFrame)         \
  (pcl::PointDEM)

// Define all point types that include RGB data
#define PCL_RGB_POINT_TYPES     \
  (pcl::PointXYZRGBA)           \
  (pcl::PointXYZRGB)            \
  (pcl::PointXYZRGBL)           \
  (pcl::PointXYZRGBNormal)      \
  (pcl::PointSurfel)            \

// Define all point types with XYZ and label
#define PCL_XYZL_POINT_TYPES  \
  (pcl::PointXYZL)            \
  (pcl::PointXYZRGBL)         \
  (pcl::PointXYZLNormal)

// Define all point types that represent features
#define PCL_FEATURE_POINT_TYPES \
  (pcl::PFHSignature125)        \
  (pcl::PFHRGBSignature250)     \
  (pcl::PPFSignature)           \
  (pcl::CPPFSignature)          \
  (pcl::PPFRGBSignature)        \
  (pcl::NormalBasedSignature12) \
  (pcl::FPFHSignature33)        \
  (pcl::VFHSignature308)        \
  (pcl::GASDSignature512)       \
  (pcl::GASDSignature984)       \
  (pcl::GASDSignature7992)      \
  (pcl::GRSDSignature21)        \
  (pcl::ESFSignature640)        \
  (pcl::BRISKSignature512)      \
  (pcl::Narf36)

// Define all point types that have descriptorSize() member function
#define PCL_DESCRIPTOR_FEATURE_POINT_TYPES \
  (pcl::PFHSignature125)        \
  (pcl::PFHRGBSignature250)     \
  (pcl::FPFHSignature33)        \
  (pcl::VFHSignature308)        \
  (pcl::GASDSignature512)       \
  (pcl::GASDSignature984)       \
  (pcl::GASDSignature7992)      \
  (pcl::GRSDSignature21)        \
  (pcl::ESFSignature640)        \
  (pcl::BRISKSignature512)      \
  (pcl::Narf36)


namespace pcl
{
  namespace detail
  {
    namespace traits
    {
      template<typename FeaturePointT> struct descriptorSize {};
   
      template<> struct descriptorSize<PFHSignature125> { static constexpr const int value = 125; };
      template<> struct descriptorSize<PFHRGBSignature250> { static constexpr const int value = 250; };
      template<> struct descriptorSize<ShapeContext1980> { static constexpr const int value = 1980; };
      template<> struct descriptorSize<UniqueShapeContext1960> { static constexpr const int value = 1960; };
      template<> struct descriptorSize<SHOT352> { static constexpr const int value = 352; };
      template<> struct descriptorSize<SHOT1344> { static constexpr const int value = 1344; };
      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<BRISKSignature512> { static constexpr const int value = 512; };
      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<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;
    }
  }
  
  using Vector2fMap = Eigen::Map<Eigen::Vector2f>;
  using Vector2fMapConst = const Eigen::Map<const Eigen::Vector2f>;
  using Array3fMap = Eigen::Map<Eigen::Array3f>;
  using Array3fMapConst = const Eigen::Map<const Eigen::Array3f>;
  using Array4fMap = Eigen::Map<Eigen::Array4f, Eigen::Aligned>;
  using Array4fMapConst = const Eigen::Map<const Eigen::Array4f, Eigen::Aligned>;
  using Vector3fMap = Eigen::Map<Eigen::Vector3f>;
  using Vector3fMapConst = const Eigen::Map<const Eigen::Vector3f>;
  using Vector4fMap = Eigen::Map<Eigen::Vector4f, Eigen::Aligned>;
  using Vector4fMapConst = const Eigen::Map<const Eigen::Vector4f, Eigen::Aligned>;

  using Vector3c = Eigen::Matrix<std::uint8_t, 3, 1>;
  using Vector3cMap = Eigen::Map<Vector3c>;
  using Vector3cMapConst = const Eigen::Map<const Vector3c>;
  using Vector4c = Eigen::Matrix<std::uint8_t, 4, 1>;
  using Vector4cMap = Eigen::Map<Vector4c, Eigen::Aligned>;
  using Vector4cMapConst = const Eigen::Map<const Vector4c, Eigen::Aligned>;

#define PCL_ADD_UNION_POINT4D \
  union EIGEN_ALIGN16 { \
    float data[4]; \
    struct { \
      float x; \
      float y; \
      float z; \
    }; \
  };

#define PCL_ADD_EIGEN_MAPS_POINT4D \
  inline pcl::Vector2fMap getVector2fMap () { return (pcl::Vector2fMap (data)); } \
  inline pcl::Vector2fMapConst getVector2fMap () const { return (pcl::Vector2fMapConst (data)); } \
  inline pcl::Vector3fMap getVector3fMap () { return (pcl::Vector3fMap (data)); } \
  inline pcl::Vector3fMapConst getVector3fMap () const { return (pcl::Vector3fMapConst (data)); } \
  inline pcl::Vector4fMap getVector4fMap () { return (pcl::Vector4fMap (data)); } \
  inline pcl::Vector4fMapConst getVector4fMap () const { return (pcl::Vector4fMapConst (data)); } \
  inline pcl::Array3fMap getArray3fMap () { return (pcl::Array3fMap (data)); } \
  inline pcl::Array3fMapConst getArray3fMap () const { return (pcl::Array3fMapConst (data)); } \
  inline pcl::Array4fMap getArray4fMap () { return (pcl::Array4fMap (data)); } \
  inline pcl::Array4fMapConst getArray4fMap () const { return (pcl::Array4fMapConst (data)); }

#define PCL_ADD_POINT4D \
  PCL_ADD_UNION_POINT4D \
  PCL_ADD_EIGEN_MAPS_POINT4D

#define PCL_ADD_UNION_NORMAL4D \
  union EIGEN_ALIGN16 { \
    float data_n[4]; \
    float normal[3]; \
    struct { \
      float normal_x; \
      float normal_y; \
      float normal_z; \
    }; \
  };

#define PCL_ADD_EIGEN_MAPS_NORMAL4D \
  inline pcl::Vector3fMap getNormalVector3fMap () { return (pcl::Vector3fMap (data_n)); } \
  inline pcl::Vector3fMapConst getNormalVector3fMap () const { return (pcl::Vector3fMapConst (data_n)); } \
  inline pcl::Vector4fMap getNormalVector4fMap () { return (pcl::Vector4fMap (data_n)); } \
  inline pcl::Vector4fMapConst getNormalVector4fMap () const { return (pcl::Vector4fMapConst (data_n)); }

#define PCL_ADD_NORMAL4D \
  PCL_ADD_UNION_NORMAL4D \
  PCL_ADD_EIGEN_MAPS_NORMAL4D

#define PCL_ADD_UNION_RGB \
  union \
  { \
    union \
    { \
      struct \
      { \
        std::uint8_t b; \
        std::uint8_t g; \
        std::uint8_t r; \
        std::uint8_t a; \
      }; \
      float rgb; \
    }; \
    std::uint32_t rgba; \
  };

#define PCL_ADD_EIGEN_MAPS_RGB \
  inline Eigen::Vector3i getRGBVector3i () { return (Eigen::Vector3i (r, g, b)); } \
  inline const Eigen::Vector3i getRGBVector3i () const { return (Eigen::Vector3i (r, g, b)); } \
  inline Eigen::Vector4i getRGBVector4i () { return (Eigen::Vector4i (r, g, b, a)); } \
  inline const Eigen::Vector4i getRGBVector4i () const { return (Eigen::Vector4i (r, g, b, a)); } \
  inline Eigen::Vector4i getRGBAVector4i () { return (Eigen::Vector4i (r, g, b, a)); } \
  inline const Eigen::Vector4i getRGBAVector4i () const { return (Eigen::Vector4i (r, g, b, a)); } \
  inline pcl::Vector3cMap getBGRVector3cMap () { return (pcl::Vector3cMap (reinterpret_cast<std::uint8_t*> (&rgba))); } \
  inline pcl::Vector3cMapConst getBGRVector3cMap () const { return (pcl::Vector3cMapConst (reinterpret_cast<const std::uint8_t*> (&rgba))); } \
  inline pcl::Vector4cMap getBGRAVector4cMap () { return (pcl::Vector4cMap (reinterpret_cast<std::uint8_t*> (&rgba))); } \
  inline pcl::Vector4cMapConst getBGRAVector4cMap () const { return (pcl::Vector4cMapConst (reinterpret_cast<const std::uint8_t*> (&rgba))); }

#define PCL_ADD_RGB \
  PCL_ADD_UNION_RGB \
  PCL_ADD_EIGEN_MAPS_RGB

#define PCL_ADD_INTENSITY \
    struct \
    { \
      float intensity; \
    }; \

#define PCL_ADD_INTENSITY_8U \
    struct \
    { \
      std::uint8_t intensity; \
    }; \

#define PCL_ADD_INTENSITY_32U \
    struct \
    { \
        std::uint32_t intensity; \
    }; \


  struct _PointXYZ
  {
    PCL_ADD_POINT4D // This adds the members x,y,z which can also be accessed using the point (which is float[4])

    PCL_MAKE_ALIGNED_OPERATOR_NEW
  };

  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const PointXYZ& p);
  /** \brief A point structure representing Euclidean xyz coordinates. (SSE friendly)
    * \ingroup common
    */
  struct EIGEN_ALIGN16 PointXYZ : public _PointXYZ
  {
    inline constexpr PointXYZ (const _PointXYZ &p): PointXYZ(p.x, p.y, p.z) {}

    inline constexpr PointXYZ (): PointXYZ(0.f, 0.f, 0.f) {}

    inline constexpr PointXYZ (float _x, float _y, float _z) : _PointXYZ{{{_x, _y, _z, 1.f}}} {}

    friend std::ostream& operator << (std::ostream& os, const PointXYZ& p);
    PCL_MAKE_ALIGNED_OPERATOR_NEW
  };


#ifdef RGB
#undef RGB
#endif
  struct _RGB
  {
    PCL_ADD_RGB
  };

  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const RGB& p);
  /** \brief A structure representing RGB color information.
    *
    * The RGBA information is available either as separate r, g, b, or as a
    * packed std::uint32_t rgba value. To pack it, use:
    *
    * \code
    * int rgb = ((int)r) << 16 | ((int)g) << 8 | ((int)b);
    * \endcode
    *
    * To unpack it use:
    *
    * \code
    * int rgb = ...;
    * std::uint8_t r = (rgb >> 16) & 0x0000ff;
    * std::uint8_t g = (rgb >> 8)  & 0x0000ff;
    * std::uint8_t b = (rgb)     & 0x0000ff;
    * \endcode
    *
    */
  struct RGB: public _RGB
  {
    inline constexpr RGB (const _RGB &p) : RGB{p.r, p.g, p.b, p.a} {}

    inline constexpr RGB (): RGB(0, 0, 0) {}

    inline constexpr RGB (std::uint8_t _r, std::uint8_t _g, std::uint8_t _b, std::uint8_t _a = 255) : _RGB{{{{_b, _g, _r, _a}}}} {}

    friend std::ostream& operator << (std::ostream& os, const RGB& p);
  };

  struct _Intensity
  {
    PCL_ADD_INTENSITY
  };

  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const Intensity& p);
  /** \brief A point structure representing the grayscale intensity in single-channel images.
    * Intensity is represented as a float value.
    * \ingroup common
    */
  struct Intensity: public _Intensity
  {
    inline constexpr Intensity (const _Intensity &p) : Intensity{p.intensity} {}

    inline constexpr Intensity (float _intensity = 0.f) : _Intensity{_intensity} {}

    friend std::ostream& operator << (std::ostream& os, const Intensity& p);
  };


  struct _Intensity8u
  {
    PCL_ADD_INTENSITY_8U;
  };

  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const Intensity8u& p);
  /** \brief A point structure representing the grayscale intensity in single-channel images.
    * Intensity is represented as a std::uint8_t value.
    * \ingroup common
    */
  struct Intensity8u: public _Intensity8u
  {
    inline constexpr Intensity8u (const _Intensity8u &p) : Intensity8u{p.intensity} {}

    inline constexpr Intensity8u (std::uint8_t _intensity = 0) : _Intensity8u{_intensity} {}

#if defined(_LIBCPP_VERSION) && _LIBCPP_VERSION <= 1101
    inline constexpr operator unsigned char() const
    {
      return intensity;
    }
#endif

    friend std::ostream& operator << (std::ostream& os, const Intensity8u& p);
  };

  struct _Intensity32u
  {
    PCL_ADD_INTENSITY_32U;
  };

  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const Intensity32u& p);
  /** \brief A point structure representing the grayscale intensity in single-channel images.
    * Intensity is represented as a std::uint32_t value.
    * \ingroup common
    */
  struct Intensity32u: public _Intensity32u
  {
    inline constexpr Intensity32u (const _Intensity32u &p) : Intensity32u{p.intensity} {}

    inline constexpr Intensity32u (std::uint32_t _intensity = 0) : _Intensity32u{_intensity} {}

    friend std::ostream& operator << (std::ostream& os, const Intensity32u& p);
  };

  /** \brief A point structure representing Euclidean xyz coordinates, and the intensity value.
    * \ingroup common
    */
  struct EIGEN_ALIGN16 _PointXYZI
  {
    PCL_ADD_POINT4D // This adds the members x,y,z which can also be accessed using the point (which is float[4])
    union
    {
      struct
      {
        float intensity;
      };
      float data_c[4];
    };
    PCL_MAKE_ALIGNED_OPERATOR_NEW
  };

  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const PointXYZI& p);
  struct PointXYZI : public _PointXYZI
  {
    inline constexpr PointXYZI (const _PointXYZI &p) : PointXYZI{p.x, p.y, p.z, p.intensity} {}

    inline constexpr PointXYZI (float _intensity = 0.f) : PointXYZI(0.f, 0.f, 0.f, _intensity) {}

    inline constexpr PointXYZI (float _x, float _y, float _z, float _intensity = 0.f) : _PointXYZI{{{_x, _y, _z, 1.0f}}, {{_intensity}}} {}
    
    friend std::ostream& operator << (std::ostream& os, const PointXYZI& p);
  };


  struct EIGEN_ALIGN16 _PointXYZL
  {
    PCL_ADD_POINT4D // This adds the members x,y,z which can also be accessed using the point (which is float[4])
    std::uint32_t label;
    PCL_MAKE_ALIGNED_OPERATOR_NEW
  };

  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const PointXYZL& p);
  struct PointXYZL : public _PointXYZL
  {
    inline constexpr PointXYZL (const _PointXYZL &p) : PointXYZL{p.x, p.y, p.z, p.label} {}

    inline constexpr PointXYZL (std::uint32_t _label = 0) : PointXYZL(0.f, 0.f, 0.f, _label) {}

    inline constexpr PointXYZL (float _x, float _y, float _z, std::uint32_t _label = 0) : _PointXYZL{{{_x, _y, _z, 1.0f}}, _label} {}

    friend std::ostream& operator << (std::ostream& os, const PointXYZL& p);
  };


  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const Label& p);
  struct Label
  {
    std::uint32_t label = 0;

    inline constexpr Label (std::uint32_t _label = 0): label(_label) {}

    friend std::ostream& operator << (std::ostream& os, const Label& p);
  };


  struct EIGEN_ALIGN16 _PointXYZRGBA
  {
    PCL_ADD_POINT4D // This adds the members x,y,z which can also be accessed using the point (which is float[4])
    PCL_ADD_RGB
    PCL_MAKE_ALIGNED_OPERATOR_NEW
  };

  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const PointXYZRGBA& p);
  /** \brief A point structure representing Euclidean xyz coordinates, and the RGBA color.
    *
    * The RGBA information is available either as separate r, g, b, or as a
    * packed std::uint32_t rgba value. To pack it, use:
    *
    * \code
    * int rgb = ((int)r) << 16 | ((int)g) << 8 | ((int)b);
    * \endcode
    *
    * To unpack it use:
    *
    * \code
    * int rgb = ...;
    * std::uint8_t r = (rgb >> 16) & 0x0000ff;
    * std::uint8_t g = (rgb >> 8)  & 0x0000ff;
    * std::uint8_t b = (rgb)     & 0x0000ff;
    * \endcode
    *
    * \ingroup common
    */
  struct EIGEN_ALIGN16 PointXYZRGBA : public _PointXYZRGBA
  {
    inline constexpr PointXYZRGBA (const _PointXYZRGBA &p) : PointXYZRGBA{p.x, p.y, p.z, p.r, p.g, p.b, p.a} {}

    inline constexpr PointXYZRGBA (): PointXYZRGBA (0, 0, 0, 255) {}

    inline constexpr PointXYZRGBA (std::uint8_t _r, std::uint8_t _g, std::uint8_t _b, std::uint8_t _a):
      PointXYZRGBA (0.f, 0.f, 0.f, _r, _g, _b, _a) {}

    inline constexpr PointXYZRGBA (float _x, float _y, float _z):
      PointXYZRGBA (_x, _y, _z, 0, 0, 0, 255) {}

    inline constexpr PointXYZRGBA (float _x, float _y, float _z, std::uint8_t _r,
                         std::uint8_t _g, std::uint8_t _b, std::uint8_t _a) : _PointXYZRGBA{{{_x, _y, _z, 1.0f}}, {{{_b, _g, _r, _a}}}} {}

    friend std::ostream& operator << (std::ostream& os, const PointXYZRGBA& p);
  };


  struct EIGEN_ALIGN16 _PointXYZRGB
  {
    PCL_ADD_POINT4D // This adds the members x,y,z which can also be accessed using the point (which is float[4])
    PCL_ADD_RGB
    PCL_MAKE_ALIGNED_OPERATOR_NEW
  };

  struct EIGEN_ALIGN16 _PointXYZRGBL
  {
    PCL_ADD_POINT4D // This adds the members x,y,z which can also be accessed using the point (which is float[4])
    PCL_ADD_RGB
    std::uint32_t label;
    PCL_MAKE_ALIGNED_OPERATOR_NEW
  };

  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const PointXYZRGB& p);
  /** \brief A point structure representing Euclidean xyz coordinates, and the RGB color.
    *
    * Due to historical reasons (PCL was first developed as a ROS package), the
    * RGB information is packed into an integer and casted to a float. This is
    * something we wish to remove in the near future, but in the meantime, the
    * following code snippet should help you pack and unpack RGB colors in your
    * PointXYZRGB structure:
    *
    * \code
    * // pack r/g/b into rgb
    * std::uint8_t r = 255, g = 0, b = 0;    // Example: Red color
    * std::uint32_t rgb = ((std::uint32_t)r << 16 | (std::uint32_t)g << 8 | (std::uint32_t)b);
    * p.rgb = *reinterpret_cast<float*>(&rgb);
    * \endcode
    *
    * To unpack the data into separate values, use:
    *
    * \code
    * PointXYZRGB p;
    * // unpack rgb into r/g/b
    * std::uint32_t rgb = *reinterpret_cast<int*>(&p.rgb);
    * std::uint8_t r = (rgb >> 16) & 0x0000ff;
    * std::uint8_t g = (rgb >> 8)  & 0x0000ff;
    * std::uint8_t b = (rgb)       & 0x0000ff;
    * \endcode
    *
    *
    * Alternatively, from 1.1.0 onwards, you can use p.r, p.g, and p.b directly.
    *
    * \ingroup common
    */
  struct EIGEN_ALIGN16 PointXYZRGB : public _PointXYZRGB
  {
    inline constexpr PointXYZRGB (const _PointXYZRGB &p) : PointXYZRGB{p.x, p.y, p.z, p.r, p.g, p.b} {}

    inline constexpr PointXYZRGB (): PointXYZRGB (0.f, 0.f, 0.f) {}

    inline constexpr PointXYZRGB (std::uint8_t _r, std::uint8_t _g, std::uint8_t _b):
      PointXYZRGB (0.f, 0.f, 0.f, _r, _g, _b) {}

    inline constexpr PointXYZRGB (float _x, float _y, float _z):
      PointXYZRGB (_x, _y, _z, 0, 0, 0) {}

    inline constexpr PointXYZRGB (float _x, float _y, float _z,
                         std::uint8_t _r, std::uint8_t _g, std::uint8_t _b):
      _PointXYZRGB{{{_x, _y, _z, 1.0f}}, {{{_b, _g, _r, 255}}}} {}

    friend std::ostream& operator << (std::ostream& os, const PointXYZRGB& p);
    PCL_MAKE_ALIGNED_OPERATOR_NEW
  };


  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const PointXYZRGBL& p);
  struct EIGEN_ALIGN16 PointXYZRGBL : public _PointXYZRGBL
  {
    inline constexpr PointXYZRGBL (const _PointXYZRGBL &p) : PointXYZRGBL{p.x, p.y, p.z, p.r, p.g, p.b, p.label, p.a} {}

    inline constexpr PointXYZRGBL (std::uint32_t _label = 0):
      PointXYZRGBL (0.f, 0.f, 0.f, 0, 0, 0, _label) {}

    inline constexpr PointXYZRGBL (std::uint8_t _r, std::uint8_t _g, std::uint8_t _b):
      PointXYZRGBL (0.f, 0.f, 0.f, _r, _g, _b) {}

    inline constexpr PointXYZRGBL (float _x, float _y, float _z):
      PointXYZRGBL (_x, _y, _z, 0, 0, 0) {}

    inline constexpr PointXYZRGBL (float _x, float _y, float _z,
                         std::uint8_t _r, std::uint8_t _g, std::uint8_t _b,
                         std::uint32_t _label = 0, std::uint8_t _a = 255) :
      _PointXYZRGBL{{{_x, _y, _z, 1.0f}}, {{{_b, _g, _r, _a}}}, _label} {}

    friend std::ostream& operator << (std::ostream& os, const PointXYZRGBL& p);
    PCL_MAKE_ALIGNED_OPERATOR_NEW
  };


  struct EIGEN_ALIGN16 _PointXYZLAB
  {
    PCL_ADD_POINT4D // this adds the members x,y,z
    union
    {
      struct
      {
        float L;
        float a;
        float b;
      };
      float data_lab[4];
    };
    PCL_MAKE_ALIGNED_OPERATOR_NEW
  };

  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const PointXYZLAB& p);
  /** \brief A point structure representing Euclidean xyz coordinates, and the CIELAB color.
    * \ingroup common
  */
  struct PointXYZLAB : public _PointXYZLAB
  {
    inline constexpr PointXYZLAB (const _PointXYZLAB &p) : PointXYZLAB{p.x, p.y, p.z, p.L, p.a, p.b} {}

    inline constexpr PointXYZLAB() : PointXYZLAB{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f} {}

    inline constexpr PointXYZLAB (float _x, float _y, float _z,
                        float _l, float _a, float _b) :
      _PointXYZLAB{ {{_x, _y, _z, 1.0f}}, {{_l, _a, _b}} } {}

    friend std::ostream& operator << (std::ostream& os, const PointXYZLAB& p);
    PCL_MAKE_ALIGNED_OPERATOR_NEW
  };


  struct EIGEN_ALIGN16 _PointXYZHSV
  {
    PCL_ADD_POINT4D    // This adds the members x,y,z which can also be accessed using the point (which is float[4])
    union
    {
      struct
      {
        float h;
        float s;
        float v;
      };
      float data_c[4];
    };
    PCL_MAKE_ALIGNED_OPERATOR_NEW
  };

  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const PointXYZHSV& p);
  struct EIGEN_ALIGN16 PointXYZHSV : public _PointXYZHSV
  {
    inline constexpr PointXYZHSV (const _PointXYZHSV &p) : 
      PointXYZHSV{p.x, p.y, p.z, p.h, p.s, p.v} {}

    inline constexpr PointXYZHSV (): PointXYZHSV (0.f, 0.f, 0.f) {}

    // @TODO: Use strong types??
    // This is a dangerous type, doesn't behave like others
    inline constexpr PointXYZHSV (float _h, float _s, float _v):
      PointXYZHSV (0.f, 0.f, 0.f, _h, _s, _v) {}

    inline constexpr PointXYZHSV (float _x, float _y, float _z,
                        float _h, float _s, float _v) :
      _PointXYZHSV{{{_x, _y, _z, 1.0f}}, {{_h, _s, _v}}} {}

    friend std::ostream& operator << (std::ostream& os, const PointXYZHSV& p);
    PCL_MAKE_ALIGNED_OPERATOR_NEW
  };

  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const PointXY& p);
  /** \brief A 2D point structure representing Euclidean xy coordinates.
    * \ingroup common
    */
  // NOLINTBEGIN(modernize-use-default-member-init)
  struct PointXY
  {
    union 
    { 
      float data[2]; 
      struct 
      {
        float x;
        float y;
      };
    };

    inline constexpr PointXY(float _x, float _y): x(_x), y(_y) {}
    inline constexpr PointXY(): x(0.0f), y(0.0f) {}

    inline pcl::Vector2fMap getVector2fMap () { return (pcl::Vector2fMap (data)); }
    inline pcl::Vector2fMapConst getVector2fMap () const { return (pcl::Vector2fMapConst (data)); }
    
    friend std::ostream& operator << (std::ostream& os, const PointXY& p);
  };
  // NOLINTEND(modernize-use-default-member-init)

  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const PointUV& p);
  /** \brief A 2D point structure representing pixel image coordinates.
    * \note We use float to be able to represent subpixels.
    * \ingroup common
    */
  struct PointUV
  {
    float u = 0.f;
    float v = 0.f;

    inline constexpr PointUV() = default;

    inline constexpr PointUV(float _u, float _v): u(_u), v(_v) {}

    friend std::ostream& operator << (std::ostream& os, const PointUV& p);
  };

  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const InterestPoint& p);
  /** \brief A point structure representing an interest point with Euclidean xyz coordinates, and an interest value.
    * \ingroup common
    */
  // @TODO: inheritance trick like on other PointTypes
  struct EIGEN_ALIGN16 InterestPoint
  {
    PCL_ADD_POINT4D // This adds the members x,y,z which can also be accessed using the point (which is float[4])
    union
    {
      struct
      {
        float strength;
      };
      float data_c[4];
    };
    PCL_MAKE_ALIGNED_OPERATOR_NEW

    friend std::ostream& operator << (std::ostream& os, const InterestPoint& p);
  };

  struct EIGEN_ALIGN16 _Normal
  {
    PCL_ADD_NORMAL4D // This adds the member normal[3] which can also be accessed using the point (which is float[4])
    union
    {
      struct
      {
        float curvature;
      };
      float data_c[4];
    };
    PCL_MAKE_ALIGNED_OPERATOR_NEW
  };

  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const Normal& p);
  /** \brief A point structure representing normal coordinates and the surface curvature estimate. (SSE friendly)
    * \ingroup common
    */
  struct Normal : public _Normal
  {
    inline constexpr Normal (const _Normal &p) : Normal {p.normal_x, p.normal_y, p.normal_z, p.curvature} {}

    inline constexpr Normal (float _curvature = 0.f): Normal (0.f, 0.f, 0.f, _curvature) {}

    inline constexpr Normal (float n_x, float n_y, float n_z, float _curvature = 0.f) :
      _Normal{{{n_x, n_y, n_z, 0.0f}}, {{_curvature}}} {}

    friend std::ostream& operator << (std::ostream& os, const Normal& p);
    PCL_MAKE_ALIGNED_OPERATOR_NEW
  };


  struct EIGEN_ALIGN16 _Axis
  {
    PCL_ADD_NORMAL4D
    PCL_MAKE_ALIGNED_OPERATOR_NEW
  };

  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const Axis& p);
  /** \brief A point structure representing an Axis using its normal coordinates. (SSE friendly)
    *  \ingroup common
    */
  struct EIGEN_ALIGN16 Axis : public _Axis
  {
    inline constexpr Axis (const _Axis &p) : Axis{p.normal_x, p.normal_y, p.normal_z} {}

    inline constexpr Axis (): Axis (0.f, 0.f, 0.f) {}

    inline constexpr Axis (float n_x, float n_y, float n_z) : _Axis{{{n_x, n_y, n_z, 0.0f}}} {}

    friend std::ostream& operator << (std::ostream& os, const Axis& p);
    PCL_MAKE_ALIGNED_OPERATOR_NEW
  };


  struct EIGEN_ALIGN16 _PointNormal
  {
    PCL_ADD_POINT4D // This adds the members x,y,z which can also be accessed using the point (which is float[4])
    PCL_ADD_NORMAL4D // This adds the member normal[3] which can also be accessed using the point (which is float[4])
    union
    {
      struct
      {
        float curvature;
      };
      float data_c[4];
    };
    PCL_MAKE_ALIGNED_OPERATOR_NEW
  };

  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const PointNormal& p);
  /** \brief A point structure representing Euclidean xyz coordinates, together with normal coordinates and the surface curvature estimate. (SSE friendly)
    * \ingroup common
    */
  struct PointNormal : public _PointNormal
  {
    inline constexpr PointNormal (const _PointNormal &p) : PointNormal{p.x, p.y, p.z, p.normal_x, p.normal_y, p.normal_z, p.curvature} {}

    inline constexpr PointNormal (float _curvature = 0.f): PointNormal (0.f, 0.f, 0.f, 0.f, 0.f, 0.f, _curvature) {}

    inline constexpr PointNormal (float _x, float _y, float _z):
      PointNormal (_x, _y, _z, 0.f, 0.f, 0.f, 0.f) {}

    inline constexpr PointNormal (float _x, float _y, float _z, float n_x, float n_y, float n_z, float _curvature = 0.f) :
      _PointNormal{{{_x, _y, _z, 1.0f}}, {{n_x, n_y, n_z, 0.0f}}, {{_curvature}}} {}

    friend std::ostream& operator << (std::ostream& os, const PointNormal& p);
  };


  struct EIGEN_ALIGN16 _PointXYZRGBNormal
  {
    PCL_ADD_POINT4D // This adds the members x,y,z which can also be accessed using the point (which is float[4])
    PCL_ADD_NORMAL4D // This adds the member normal[3] which can also be accessed using the point (which is float[4])
    union
    {
      struct
      {
        PCL_ADD_UNION_RGB
        float curvature;
      };
      float data_c[4];
    };
    PCL_ADD_EIGEN_MAPS_RGB
    PCL_MAKE_ALIGNED_OPERATOR_NEW
  };

  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const PointXYZRGBNormal& p);
  /** \brief A point structure representing Euclidean xyz coordinates, and the RGB color, together with normal coordinates and the surface curvature estimate.
    * Due to historical reasons (PCL was first developed as a ROS package), the
    * RGB information is packed into an integer and casted to a float. This is
    * something we wish to remove in the near future, but in the meantime, the
    * following code snippet should help you pack and unpack RGB colors in your
    * PointXYZRGB structure:
    *
    * \code
    * // pack r/g/b into rgb
    * std::uint8_t r = 255, g = 0, b = 0;    // Example: Red color
    * std::uint32_t rgb = ((std::uint32_t)r << 16 | (std::uint32_t)g << 8 | (std::uint32_t)b);
    * p.rgb = *reinterpret_cast<float*>(&rgb);
    * \endcode
    *
    * To unpack the data into separate values, use:
    *
    * \code
    * PointXYZRGB p;
    * // unpack rgb into r/g/b
    * std::uint32_t rgb = *reinterpret_cast<int*>(&p.rgb);
    * std::uint8_t r = (rgb >> 16) & 0x0000ff;
    * std::uint8_t g = (rgb >> 8)  & 0x0000ff;
    * std::uint8_t b = (rgb)       & 0x0000ff;
    * \endcode
    *
    *
    * Alternatively, from 1.1.0 onwards, you can use p.r, p.g, and p.b directly.
    * \ingroup common
    */
  struct PointXYZRGBNormal : public _PointXYZRGBNormal
  {
    inline constexpr PointXYZRGBNormal (const _PointXYZRGBNormal &p) :
      PointXYZRGBNormal {p.x, p.y, p.z, p.r, p.g, p.b, p.a, p.normal_x, p.normal_y, p.normal_z, p.curvature} {}

    inline constexpr PointXYZRGBNormal (float _curvature = 0.f):
        PointXYZRGBNormal (0.f, 0.f, 0.f, 0, 0, 0, 0.f, 0.f, 0.f, _curvature) {}

    inline constexpr PointXYZRGBNormal (float _x, float _y, float _z):
      PointXYZRGBNormal (_x, _y, _z, 0, 0, 0) {}

    inline constexpr PointXYZRGBNormal (std::uint8_t _r, std::uint8_t _g, std::uint8_t _b):
      PointXYZRGBNormal (0.f, 0.f, 0.f, _r, _g, _b) {}

    inline constexpr PointXYZRGBNormal (float _x, float _y, float _z, std::uint8_t _r, std::uint8_t _g, std::uint8_t _b):
      PointXYZRGBNormal (_x, _y, _z, _r, _g, _b, 0.f, 0.f, 0.f) {}

    inline constexpr PointXYZRGBNormal (float _x, float _y, float _z, std::uint8_t _r, std::uint8_t _g, std::uint8_t _b,
                              float n_x, float n_y, float n_z, float _curvature = 0.f) :
      _PointXYZRGBNormal{
        {{_x, _y, _z, 1.0f}}, 
        {{n_x, n_y, n_z, 0.0f}}, 
        {{ {{{_b, _g, _r, 255u}}}, _curvature }}
      }
    {}

    inline constexpr PointXYZRGBNormal (float _x, float _y, float _z, std::uint8_t _r, std::uint8_t _g, std::uint8_t _b,
                              std::uint8_t _a, float n_x, float n_y, float n_z, float _curvature = 0.f) :
      _PointXYZRGBNormal{
        {{_x, _y, _z, 1.0f}}, 
        {{n_x, n_y, n_z, 0.0f}}, 
        {{ {{{_b, _g, _r, _a}}}, _curvature }}
      }
    {}


    friend std::ostream& operator << (std::ostream& os, const PointXYZRGBNormal& p);
  };

  struct EIGEN_ALIGN16 _PointXYZINormal
  {
    PCL_ADD_POINT4D // This adds the members x,y,z which can also be accessed using the point (which is float[4])
    PCL_ADD_NORMAL4D // This adds the member normal[3] which can also be accessed using the point (which is float[4])
    union
    {
      struct
      {
        float intensity;
        float curvature;
      };
      float data_c[4];
    };
    PCL_MAKE_ALIGNED_OPERATOR_NEW
  };

  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const PointXYZINormal& p);
  /** \brief A point structure representing Euclidean xyz coordinates, intensity, together with normal coordinates and the surface curvature estimate.
    * \ingroup common
    */
  struct PointXYZINormal : public _PointXYZINormal
  {
    inline constexpr PointXYZINormal (const _PointXYZINormal &p) :
      PointXYZINormal {p.x, p.y, p.z, p.intensity, p.normal_x, p.normal_y, p.normal_z, p.curvature} {}

    inline constexpr PointXYZINormal (float _intensity = 0.f): PointXYZINormal (0.f, 0.f, 0.f, _intensity) {}

    inline constexpr PointXYZINormal (float _x, float _y, float _z, float _intensity = 0.f):
      PointXYZINormal (_x, _y, _z, _intensity, 0.f, 0.f, 0.f) {}

    inline constexpr PointXYZINormal (float _x, float _y, float _z, float _intensity,
                            float n_x, float n_y, float n_z, float _curvature = 0.f) :
      _PointXYZINormal{
        {{_x, _y, _z, 1.0f}}, 
        {{n_x, n_y, n_z, 0.0f}}, 
        {{_intensity, _curvature}}
      }
    {}

    friend std::ostream& operator << (std::ostream& os, const PointXYZINormal& p);
  };

//----
  struct EIGEN_ALIGN16 _PointXYZLNormal
  {
    PCL_ADD_POINT4D // This adds the members x,y,z which can also be accessed using the point (which is float[4])
    PCL_ADD_NORMAL4D // This adds the member normal[3] which can also be accessed using the point (which is float[4])
    union
    {
      struct
      {
        std::uint32_t label;
        float curvature;
      };
      float data_c[4];
    };
    PCL_MAKE_ALIGNED_OPERATOR_NEW
  };

  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const PointXYZLNormal& p);
  /** \brief A point structure representing Euclidean xyz coordinates, a label, together with normal coordinates and the surface curvature estimate.
    * \ingroup common
    */
  struct PointXYZLNormal : public _PointXYZLNormal
  {
    inline constexpr PointXYZLNormal (const _PointXYZLNormal &p) :
      PointXYZLNormal {p.x, p.y, p.z, p.label, p.normal_x, p.normal_y, p.normal_z, p.curvature} {}

    inline constexpr PointXYZLNormal (std::uint32_t _label = 0u): PointXYZLNormal (0.f, 0.f, 0.f, _label) {}

    inline constexpr PointXYZLNormal (float _x, float _y, float _z, std::uint32_t _label = 0u) :
      PointXYZLNormal (_x, _y, _z, _label, 0.f, 0.f, 0.f) {}

    inline constexpr PointXYZLNormal (float _x, float _y, float _z, std::uint32_t _label,
                            float n_x, float n_y, float n_z, float _curvature = 0.f) :
      _PointXYZLNormal{
        {{_x, _y, _z, 1.0f}}, 
        {{n_x, n_y, n_z, 0.0f}}, 
        {{_label, _curvature}}
      }
    {} 

    friend std::ostream& operator << (std::ostream& os, const PointXYZLNormal& p);
  };

//  ---


  struct EIGEN_ALIGN16 _PointWithRange
  {
    PCL_ADD_POINT4D // This adds the members x,y,z which can also be accessed using the point (which is float[4])
    union
    {
      struct
      {
        float range;
      };
      float data_c[4];
    };
    PCL_MAKE_ALIGNED_OPERATOR_NEW
  };

  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const PointWithRange& p);
  /** \brief A point structure representing Euclidean xyz coordinates, padded with an extra range float.
    * \ingroup common
    */
  struct PointWithRange : public _PointWithRange
  {
    inline constexpr PointWithRange (const _PointWithRange &p) : PointWithRange{p.x, p.y, p.z, p.range} {}

    inline constexpr PointWithRange (float _range = 0.f): PointWithRange (0.f, 0.f, 0.f, _range) {}

    inline constexpr PointWithRange (float _x, float _y, float _z, float _range = 0.f) :
      _PointWithRange{{{_x, _y, _z, 1.0f}}, {{_range}}} {}

    friend std::ostream& operator << (std::ostream& os, const PointWithRange& p);
  };


  struct EIGEN_ALIGN16 _PointWithViewpoint
  {
    PCL_ADD_POINT4D // This adds the members x,y,z which can also be accessed using the point (which is float[4])
    union
    {
      struct
      {
        float vp_x;
        float vp_y;
        float vp_z;
      };
      float data_c[4];
    };
    PCL_MAKE_ALIGNED_OPERATOR_NEW
  };

  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const PointWithViewpoint& p);
  /** \brief A point structure representing Euclidean xyz coordinates together with the viewpoint from which it was seen.
    * \ingroup common
    */
  struct EIGEN_ALIGN16 PointWithViewpoint : public _PointWithViewpoint
  {
    inline constexpr PointWithViewpoint (const _PointWithViewpoint &p) : PointWithViewpoint{p.x, p.y, p.z, p.vp_x, p.vp_y, p.vp_z} {}

    inline constexpr PointWithViewpoint (): PointWithViewpoint (0.f, 0.f, 0.f) {}

    inline constexpr PointWithViewpoint (float _x, float _y, float _z): PointWithViewpoint (_x, _y, _z, 0.f, 0.f, 0.f) {}

    inline constexpr PointWithViewpoint (float _x, float _y, float _z, float _vp_x, float _vp_y, float _vp_z) :
      _PointWithViewpoint{{{_x, _y, _z, 1.0f}}, {{_vp_x, _vp_y, _vp_z}}} {}

    friend std::ostream& operator << (std::ostream& os, const PointWithViewpoint& p);
  };

  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 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 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 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 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 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 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 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);
  };

  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const BorderDescription& p);
  /** \brief A structure to store if a point in a range image lies on a border between an obstacle and the background.
    * \ingroup common
    */
  struct BorderDescription
  {
    int x = 0, y = 0;
    BorderTraits traits;
    //std::vector<const BorderDescription*> neighbors;

    inline constexpr BorderDescription () = default;

    inline constexpr BorderDescription (int _x, int _y) : x(_x), y(_y) {}

    friend std::ostream& operator << (std::ostream& os, const BorderDescription& p);
  };


  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const IntensityGradient& p);
  /** \brief A point structure representing the intensity gradient of an XYZI point cloud.
    * \ingroup common
    */
  struct IntensityGradient
  {
    union
    {
      float gradient[3];
      struct
      {
        float gradient_x;
        float gradient_y;
        float gradient_z;
      };
    };

    inline constexpr IntensityGradient (): IntensityGradient (0.f, 0.f, 0.f) {}

    inline constexpr IntensityGradient (float _x, float _y, float _z): gradient_x (_x), gradient_y (_y), gradient_z (_z) {}
    friend std::ostream& operator << (std::ostream& os, const IntensityGradient& 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>>; }
  };

  struct EIGEN_ALIGN16 _PointWithScale
  {
    PCL_ADD_POINT4D // This adds the members x,y,z which can also be accessed using the point (which is float[4])

    union
    {
      /** \brief Diameter of the meaningful keypoint neighborhood. */
      float scale;
      float size;
    };

    /** \brief Computed orientation of the keypoint (-1 if not applicable). */
    float angle;
    /** \brief The response by which the most strong keypoints have been selected. */
    float response;
    /** \brief octave (pyramid layer) from which the keypoint has been extracted. */
    int   octave;

    PCL_MAKE_ALIGNED_OPERATOR_NEW
  };

  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const PointWithScale& p);
  /** \brief A point structure representing a 3-D position and scale.
    * \ingroup common
    */
  struct PointWithScale : public _PointWithScale
  {
    inline constexpr PointWithScale (const _PointWithScale &p) :
      PointWithScale{p.x, p.y, p.z, p.scale, p.angle, p.response, p.octave} {}

    inline constexpr PointWithScale (): PointWithScale (0.f, 0.f, 0.f) {}

    inline constexpr PointWithScale (float _x, float _y, float _z, float _scale = 1.f,
                           float _angle = -1.f, float _response = 0.f, int _octave = 0) :
      _PointWithScale{{{_x, _y, _z, 1.0f}}, {_scale}, _angle, _response, _octave } {}
    
    friend std::ostream& operator << (std::ostream& os, const PointWithScale& p);
  };


  struct EIGEN_ALIGN16 _PointSurfel
  {
    PCL_ADD_POINT4D // This adds the members x,y,z which can also be accessed using the point (which is float[4])
    PCL_ADD_NORMAL4D // This adds the member normal[3] which can also be accessed using the point (which is float[4])
    union
    {
      struct
      {
        PCL_ADD_UNION_RGB
        float radius;
        float confidence;
        float curvature;
      };
      float data_c[4];
    };
    PCL_ADD_EIGEN_MAPS_RGB
    PCL_MAKE_ALIGNED_OPERATOR_NEW
  };

  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const PointSurfel& p);
  /** \brief A surfel, that is, a point structure representing Euclidean xyz coordinates, together with normal coordinates, a RGBA color, a radius, a confidence value and the surface curvature estimate.
    * \ingroup common
    */
  struct PointSurfel : public _PointSurfel
  {
    inline constexpr PointSurfel (const _PointSurfel &p) :
      PointSurfel{p.x, p.y, p.z, p.normal_x, p.normal_y, p.normal_z, p.r, p.g, p.b, p.a, p.radius, p.confidence, p.curvature} {}

    inline constexpr PointSurfel () :
      PointSurfel{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0u, 0u, 0u, 0u, 0.0f, 0.0f, 0.0f} {}

    inline constexpr PointSurfel (float _x, float _y, float _z, float _nx,
                           float _ny, float _nz, std::uint8_t _r, std::uint8_t _g, std::uint8_t _b, std::uint8_t _a, 
                           float _radius, float _confidence, float _curvature) :
      _PointSurfel{
        {{_x, _y, _z, 1.0f}}, 
        {{_nx, _ny, _nz, 0.0f}}, 
        {{{{{_b, _g, _r, _a}}}, _radius, _confidence, _curvature}}
      } {}


    friend std::ostream& operator << (std::ostream& os, const PointSurfel& p);
  };

  struct EIGEN_ALIGN16 _PointDEM
  {
    PCL_ADD_POINT4D
    float intensity;
    float intensity_variance;
    float height_variance;
    PCL_MAKE_ALIGNED_OPERATOR_NEW
  };

  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const PointDEM& p);
  /** \brief A point structure representing Digital Elevation Map.
    * \ingroup common
    */
  struct PointDEM : public _PointDEM
  {
    inline constexpr PointDEM (const _PointDEM &p) :
      PointDEM{p.x, p.y, p.z, p.intensity, p.intensity_variance, p.height_variance} {}
   
    inline constexpr PointDEM (): PointDEM (0.f, 0.f, 0.f) {}

    inline constexpr PointDEM (float _x, float _y, float _z): PointDEM (_x, _y, _z, 0.f, 0.f, 0.f) {}

    inline constexpr PointDEM (float _x, float _y, float _z, float _intensity,
                     float _intensity_variance, float _height_variance) :
      _PointDEM{{{_x, _y, _z, 1.0f}}, _intensity, _intensity_variance, _height_variance} {}
    
    friend std::ostream& operator << (std::ostream& os, const PointDEM& p);
  };

  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

// Register point structs and wrappers
POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::_RGB,
    (std::uint32_t, rgba, rgba)
)
POINT_CLOUD_REGISTER_POINT_WRAPPER(pcl::RGB, pcl::_RGB)

POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::_Intensity,
    (float, intensity, intensity)
)
POINT_CLOUD_REGISTER_POINT_WRAPPER(pcl::Intensity, pcl::_Intensity)

POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::_Intensity8u,
    (std::uint8_t, intensity, intensity)
)
POINT_CLOUD_REGISTER_POINT_WRAPPER(pcl::Intensity8u, pcl::_Intensity8u)

POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::_Intensity32u,
    (std::uint32_t, intensity, intensity)
)
POINT_CLOUD_REGISTER_POINT_WRAPPER(pcl::Intensity32u, pcl::_Intensity32u)

POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::_PointXYZ,
    (float, x, x)
    (float, y, y)
    (float, z, z)
)
POINT_CLOUD_REGISTER_POINT_WRAPPER(pcl::PointXYZ, pcl::_PointXYZ)

POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::_PointXYZRGBA,
    (float, x, x)
    (float, y, y)
    (float, z, z)
    (std::uint32_t, rgba, rgba)
)
POINT_CLOUD_REGISTER_POINT_WRAPPER(pcl::PointXYZRGBA, pcl::_PointXYZRGBA)

POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::_PointXYZRGB,
    (float, x, x)
    (float, y, y)
    (float, z, z)
    (float, rgb, rgb)
)
POINT_CLOUD_REGISTER_POINT_WRAPPER(pcl::PointXYZRGB, pcl::_PointXYZRGB)

POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::_PointXYZRGBL,
    (float, x, x)
    (float, y, y)
    (float, z, z)
    (std::uint32_t, rgba, rgba)
    (std::uint32_t, label, label)
)
POINT_CLOUD_REGISTER_POINT_WRAPPER(pcl::PointXYZRGBL, pcl::_PointXYZRGBL)

POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::_PointXYZLAB,
    (float, x, x)
    (float, y, y)
    (float, z, z)
    (float, L, L)
    (float, a, a)
    (float, b, b)
)
POINT_CLOUD_REGISTER_POINT_WRAPPER(pcl::PointXYZLAB, pcl::_PointXYZLAB)

POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::_PointXYZHSV,
    (float, x, x)
    (float, y, y)
    (float, z, z)
    (float, h, h)
    (float, s, s)
    (float, v, v)
)
POINT_CLOUD_REGISTER_POINT_WRAPPER(pcl::PointXYZHSV, pcl::_PointXYZHSV)

POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::PointXY,
    (float, x, x)
    (float, y, y)
)

POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::PointUV,
    (float, u, u)
    (float, v, v)
)

POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::InterestPoint,
    (float, x, x)
    (float, y, y)
    (float, z, z)
    (float, strength, strength)
)

POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::_PointXYZI,
    (float, x, x)
    (float, y, y)
    (float, z, z)
    (float, intensity, intensity)
)
POINT_CLOUD_REGISTER_POINT_WRAPPER(pcl::PointXYZI, pcl::_PointXYZI)

POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::PointXYZL,
    (float, x, x)
    (float, y, y)
    (float, z, z)
    (std::uint32_t, label, label)
)

POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::Label,
    (std::uint32_t, label, label)
)

POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::_Normal,
    (float, normal_x, normal_x)
    (float, normal_y, normal_y)
    (float, normal_z, normal_z)
    (float, curvature, curvature)
)
POINT_CLOUD_REGISTER_POINT_WRAPPER(pcl::Normal, pcl::_Normal)

POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::_Axis,
    (float, normal_x, normal_x)
    (float, normal_y, normal_y)
    (float, normal_z, normal_z)
)
POINT_CLOUD_REGISTER_POINT_WRAPPER(pcl::Axis, pcl::_Axis)

POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::PointNormal,
    (float, x, x)
    (float, y, y)
    (float, z, z)
    (float, normal_x, normal_x)
    (float, normal_y, normal_y)
    (float, normal_z, normal_z)
    (float, curvature, curvature)
)
POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::_PointXYZRGBNormal,
    (float, x, x)
    (float, y, y)
    (float, z, z)
    (float, normal_x, normal_x)
    (float, normal_y, normal_y)
    (float, normal_z, normal_z)
    (float, rgb, rgb)
    (float, curvature, curvature)
)
POINT_CLOUD_REGISTER_POINT_WRAPPER(pcl::PointXYZRGBNormal, pcl::_PointXYZRGBNormal)
POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::PointXYZINormal,
    (float, x, x)
    (float, y, y)
    (float, z, z)
    (float, normal_x, normal_x)
    (float, normal_y, normal_y)
    (float, normal_z, normal_z)
    (float, intensity, intensity)
    (float, curvature, curvature)
)
POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::PointXYZLNormal,
    (float, x, x)
    (float, y, y)
    (float, z, z)
    (float, normal_x, normal_x)
    (float, normal_y, normal_y)
    (float, normal_z, normal_z)
    (std::uint32_t, label, label)
    (float, curvature, curvature)
)
POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::PointWithRange,
    (float, x, x)
    (float, y, y)
    (float, z, z)
    (float, range, range)
)

POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::_PointWithViewpoint,
    (float, x, x)
    (float, y, y)
    (float, z, z)
    (float, vp_x, vp_x)
    (float, vp_y, vp_y)
    (float, vp_z, vp_z)
)
POINT_CLOUD_REGISTER_POINT_WRAPPER(pcl::PointWithViewpoint, pcl::_PointWithViewpoint)

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::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::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::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::FPFHSignature33,
    (float[33], histogram, fpfh)
)

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::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::Narf36,
    (float[36], descriptor, descriptor)
)

POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::GFPFHSignature16,
    (float[16], histogram, gfpfh)
)

POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::IntensityGradient,
    (float, gradient_x, gradient_x)
    (float, gradient_y, gradient_y)
    (float, gradient_z, gradient_z)
)

POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::PointWithScale,
    (float, x, x)
    (float, y, y)
    (float, z, z)
    (float, scale, scale)
)

POINT_CLOUD_REGISTER_POINT_STRUCT(pcl::PointSurfel,
    (float, x, x)
    (float, y, y)
    (float, z, z)
    (float, normal_x, normal_x)
    (float, normal_y, normal_y)
    (float, normal_z, normal_z)
    (std::uint32_t, rgba, rgba)
    (float, radius, radius)
    (float, confidence, confidence)
    (float, curvature, curvature)
)

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::_PointDEM,
    (float, x, x)
    (float, y, y)
    (float, z, z)
    (float, intensity, intensity)
    (float, intensity_variance, intensity_variance)
    (float, height_variance, height_variance)
)
POINT_CLOUD_REGISTER_POINT_WRAPPER(pcl::PointDEM, pcl::_PointDEM)

namespace pcl
{

// Allow float 'rgb' data to match to the newer uint32 'rgba' tag. This is so
// you can load old 'rgb' PCD files into e.g. a PointCloud<PointXYZRGBA>.
template<typename PointT>
struct FieldMatches<PointT, ::pcl::fields::rgba>
{
  bool operator() (const pcl::PCLPointField& field)
  {
    if (field.name == "rgb")
    {
      // For fixing the alpha value bug #1141, the rgb field can also match
      // uint32.
      return ((field.datatype == pcl::PCLPointField::FLOAT32 ||
               field.datatype == pcl::PCLPointField::UINT32) &&
              field.count == 1);
    }
    else
    {
      return (field.name == traits::name<PointT, fields::rgba>::value &&
              field.datatype == traits::datatype<PointT, fields::rgba>::value &&
              field.count == traits::datatype<PointT, fields::rgba>::size);
    }
  }
};
template<typename PointT>
struct FieldMatches<PointT, fields::rgb>
{
  bool operator() (const pcl::PCLPointField& field)
  {
    if (field.name == "rgba")
    {
      return (field.datatype == pcl::PCLPointField::UINT32 &&
              field.count == 1);
    }
    else
    {
      // For fixing the alpha value bug #1141, rgb can also match uint32
      return (field.name == traits::name<PointT, fields::rgb>::value &&
              (field.datatype == traits::datatype<PointT, fields::rgb>::value ||
               field.datatype == pcl::PCLPointField::UINT32) &&
              field.count == traits::datatype<PointT, fields::rgb>::size);
    }
  }
};


// We're doing a lot of black magic with Boost here, so disable warnings in Maintainer mode, as we will never
// be able to fix them anyway
#if defined _MSC_VER
  #pragma warning(disable: 4201)
#endif

namespace traits
{

  /** \brief Metafunction to check if a given point type has a given field.
   *
   *  Example usage at run-time:
   *
   *  \code
   *  bool curvature_available = pcl::traits::has_field<PointT, pcl::fields::curvature>::value;
   *  \endcode
   *
   *  Example usage at compile-time:
   *
   *  \code
   *  BOOST_MPL_ASSERT_MSG ((pcl::traits::has_field<PointT, pcl::fields::label>::value),
   *                        POINT_TYPE_SHOULD_HAVE_LABEL_FIELD,
   *                        (PointT));
   *  \endcode
   */
  template <typename PointT, typename Field>
  struct has_field : boost::mpl::contains<typename pcl::traits::fieldList<PointT>::type, Field>::type
  { };

  /** Metafunction to check if a given point type has all given fields. */
  template <typename PointT, typename Field>
  struct has_all_fields : boost::mpl::fold<Field,
                                           boost::mpl::bool_<true>,
                                           boost::mpl::and_<boost::mpl::_1,
                                                            has_field<PointT, boost::mpl::_2> > >::type
  { };

  /** Metafunction to check if a given point type has any of the given fields. */
  template <typename PointT, typename Field>
  struct has_any_field : boost::mpl::fold<Field,
                                          boost::mpl::bool_<false>,
                                          boost::mpl::or_<boost::mpl::_1,
                                                          has_field<PointT, boost::mpl::_2> > >::type
  { };

  /** \brief Traits defined for ease of use with fields already registered before
   *
   * has_<fields to be detected>: struct with `value` datamember defined at compiletime
   * has_<fields to be detected>_v: constexpr boolean
   * Has<Fields to be detected>: concept modelling name alias for `enable_if`
   */

  /** Metafunction to check if a given point type has x and y fields. */
  template <typename PointT>
  struct has_xy : has_all_fields<PointT, boost::mpl::vector<pcl::fields::x,
                                                            pcl::fields::y> >
  { };

  template <typename PointT>
  constexpr auto has_xy_v = has_xy<PointT>::value;

  template <typename PointT>
  using HasXY = std::enable_if_t<has_xy_v<PointT>, bool>;

  template <typename PointT>
  using HasNoXY = std::enable_if_t<!has_xy_v<PointT>, bool>;

  /** Metafunction to check if a given point type has x, y, and z fields. */
  template <typename PointT>
  struct has_xyz : has_all_fields<PointT, boost::mpl::vector<pcl::fields::x,
                                                             pcl::fields::y,
                                                             pcl::fields::z> >
  { };

  template <typename PointT>
  constexpr auto has_xyz_v = has_xyz<PointT>::value;

  template <typename PointT>
  using HasXYZ = std::enable_if_t<has_xyz_v<PointT>, bool>;

  template <typename PointT>
  using HasNoXYZ = std::enable_if_t<!has_xyz_v<PointT>, bool>;

  /** Metafunction to check if a given point type has normal_x, normal_y, and
    * normal_z fields. */
  template <typename PointT>
  struct has_normal : has_all_fields<PointT, boost::mpl::vector<pcl::fields::normal_x,
                                                                pcl::fields::normal_y,
                                                                pcl::fields::normal_z> >
  { };

  template <typename PointT>
  constexpr auto has_normal_v = has_normal<PointT>::value;

  template <typename PointT>
  using HasNormal = std::enable_if_t<has_normal_v<PointT>, bool>;

  template <typename PointT>
  using HasNoNormal = std::enable_if_t<!has_normal_v<PointT>, bool>;

  /** Metafunction to check if a given point type has curvature field. */
  template <typename PointT>
  struct has_curvature : has_field<PointT, pcl::fields::curvature>
  { };

  template <typename PointT>
  constexpr auto has_curvature_v = has_curvature<PointT>::value;

  template <typename PointT>
  using HasCurvature = std::enable_if_t<has_curvature_v<PointT>, bool>;

  template <typename PointT>
  using HasNoCurvature = std::enable_if_t<!has_curvature_v<PointT>, bool>;

  /** Metafunction to check if a given point type has intensity field. */
  template <typename PointT>
  struct has_intensity : has_field<PointT, pcl::fields::intensity>
  { };

  template <typename PointT>
  constexpr auto has_intensity_v = has_intensity<PointT>::value;

  template <typename PointT>
  using HasIntensity = std::enable_if_t<has_intensity_v<PointT>, bool>;

  template <typename PointT>
  using HasNoIntensity = std::enable_if_t<!has_intensity_v<PointT>, bool>;

  /** Metafunction to check if a given point type has either rgb or rgba field. */
  template <typename PointT>
  struct has_color : has_any_field<PointT, boost::mpl::vector<pcl::fields::rgb,
                                                              pcl::fields::rgba> >
  { };

  template <typename PointT>
  constexpr auto has_color_v = has_color<PointT>::value;

  template <typename PointT>
  using HasColor = std::enable_if_t<has_color_v<PointT>, bool>;

  template <typename PointT>
  using HasNoColor = std::enable_if_t<!has_color_v<PointT>, bool>;

  /** Metafunction to check if a given point type has label field. */
  template <typename PointT>
  struct has_label : has_field<PointT, pcl::fields::label>
  { };

  template <typename PointT>
  constexpr auto has_label_v = has_label<PointT>::value;

  template <typename PointT>
  using HasLabel = std::enable_if_t<has_label_v<PointT>, bool>;

  template <typename PointT>
  using HasNoLabel = std::enable_if_t<!has_label_v<PointT>, bool>;
}

#if defined _MSC_VER
  #pragma warning(default: 4201)
#endif

} // namespace pcl

