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Remove redundant typename #2927

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merged 6 commits into from
Mar 22, 2019
Merged

Remove redundant typename #2927

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c798b75
Remove redundant typename in non-dependent typedefs (segmentation)
taketwo Mar 9, 2019
58abfd6
Remove redundant typename in non-dependent typedefs (recognition)
taketwo Mar 9, 2019
4b9982a
Remove redundant typename in non-dependent typedefs (registration)
taketwo Mar 9, 2019
cdea1cc
Remove redundant typename in non-dependent typedefs (surface)
taketwo Mar 9, 2019
001662e
Remove redundant typename in non-dependent typedefs (sample_consensus)
taketwo Mar 9, 2019
e6181eb
Remove redundant typename in non-dependent typedefs (tests)
taketwo Mar 16, 2019
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2 changes: 1 addition & 1 deletion recognition/include/pcl/recognition/color_gradient_dot_modality.h
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Expand Up @@ -69,7 +69,7 @@ namespace pcl
};

public:
typedef typename pcl::PointCloud<PointInT> PointCloudIn;
typedef pcl::PointCloud<PointInT> PointCloudIn;

ColorGradientDOTModality (size_t bin_size);

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2 changes: 1 addition & 1 deletion recognition/include/pcl/recognition/color_gradient_modality.h
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Expand Up @@ -81,7 +81,7 @@ namespace pcl
};

public:
typedef typename pcl::PointCloud<PointInT> PointCloudIn;
typedef pcl::PointCloud<PointInT> PointCloudIn;

/** \brief Different methods for feature selection/extraction. */
enum FeatureSelectionMethod
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2 changes: 1 addition & 1 deletion recognition/include/pcl/recognition/color_modality.h
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Expand Up @@ -75,7 +75,7 @@ namespace pcl
};

public:
typedef typename pcl::PointCloud<PointInT> PointCloudIn;
typedef pcl::PointCloud<PointInT> PointCloudIn;

ColorModality ();

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2 changes: 1 addition & 1 deletion recognition/include/pcl/recognition/hv/hv_go.h
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Expand Up @@ -185,7 +185,7 @@ namespace pcl
using HypothesisVerification<ModelT, SceneT>::inliers_threshold_;

//class attributes
typedef typename pcl::NormalEstimation<SceneT, pcl::Normal> NormalEstimator_;
typedef pcl::NormalEstimation<SceneT, pcl::Normal> NormalEstimator_;
pcl::PointCloud<pcl::Normal>::Ptr scene_normals_;
pcl::PointCloud<pcl::PointXYZI>::Ptr clusters_cloud_;

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3 changes: 1 addition & 2 deletions recognition/include/pcl/recognition/impl/hv/hv_go.hpp
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Expand Up @@ -530,8 +530,7 @@ bool pcl::GlobalHypothesesVerification<ModelT, SceneT>::addModel(typename pcl::P

//compute normals unless given (now do it always...)
typename pcl::search::KdTree<ModelT>::Ptr normals_tree (new pcl::search::KdTree<ModelT>);
typedef typename pcl::NormalEstimation<ModelT, pcl::Normal> NormalEstimator_;
NormalEstimator_ n3d;
pcl::NormalEstimation<ModelT, pcl::Normal> n3d;
recog_model->normals_.reset (new pcl::PointCloud<pcl::Normal> ());
normals_tree->setInputCloud (recog_model->cloud_);
n3d.setRadiusSearch (radius_normals_);
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2 changes: 1 addition & 1 deletion recognition/include/pcl/recognition/surface_normal_modality.h
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Expand Up @@ -325,7 +325,7 @@ namespace pcl
};

public:
typedef typename pcl::PointCloud<PointInT> PointCloudIn;
typedef pcl::PointCloud<PointInT> PointCloudIn;

/** \brief Constructor. */
SurfaceNormalModality ();
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3 changes: 1 addition & 2 deletions recognition/src/face_detection/face_detector_data_provider.cpp
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Expand Up @@ -258,8 +258,7 @@ void pcl::face_detection::FaceDetectorDataProvider<FeatureType, DataSet, LabelTy

if (USE_NORMALS_)
{
typedef typename pcl::IntegralImageNormalEstimation<pcl::PointXYZ, pcl::Normal> NormalEstimator_;
NormalEstimator_ n3d;
pcl::IntegralImageNormalEstimation<pcl::PointXYZ, pcl::Normal> n3d;
n3d.setNormalEstimationMethod (n3d.COVARIANCE_MATRIX);
n3d.setInputCloud (cloud);
n3d.setRadiusSearch (0.02);
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2 changes: 1 addition & 1 deletion registration/include/pcl/registration/correspondence_estimation.h
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Expand Up @@ -382,7 +382,7 @@ namespace pcl
using PCLBase<PointSource>::deinitCompute;

typedef pcl::search::KdTree<PointTarget> KdTree;
typedef typename pcl::search::KdTree<PointTarget>::Ptr KdTreePtr;
typedef typename KdTree::Ptr KdTreePtr;

typedef pcl::PointCloud<PointSource> PointCloudSource;
typedef typename PointCloudSource::Ptr PointCloudSourcePtr;
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4 changes: 2 additions & 2 deletions registration/include/pcl/registration/correspondence_estimation_backprojection.h
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Expand Up @@ -68,8 +68,8 @@ namespace pcl
using CorrespondenceEstimationBase<PointSource, PointTarget, Scalar>::point_representation_;
using CorrespondenceEstimationBase<PointSource, PointTarget, Scalar>::target_indices_;

typedef typename pcl::search::KdTree<PointTarget> KdTree;
typedef typename pcl::search::KdTree<PointTarget>::Ptr KdTreePtr;
typedef pcl::search::KdTree<PointTarget> KdTree;
typedef typename KdTree::Ptr KdTreePtr;

typedef pcl::PointCloud<PointSource> PointCloudSource;
typedef typename PointCloudSource::Ptr PointCloudSourcePtr;
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4 changes: 2 additions & 2 deletions registration/include/pcl/registration/correspondence_estimation_normal_shooting.h
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Expand Up @@ -90,8 +90,8 @@ namespace pcl
using CorrespondenceEstimationBase<PointSource, PointTarget, Scalar>::point_representation_;
using CorrespondenceEstimationBase<PointSource, PointTarget, Scalar>::target_indices_;

typedef typename pcl::search::KdTree<PointTarget> KdTree;
typedef typename pcl::search::KdTree<PointTarget>::Ptr KdTreePtr;
typedef pcl::search::KdTree<PointTarget> KdTree;
typedef typename KdTree::Ptr KdTreePtr;

typedef pcl::PointCloud<PointSource> PointCloudSource;
typedef typename PointCloudSource::Ptr PointCloudSourcePtr;
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2 changes: 1 addition & 1 deletion registration/include/pcl/registration/elch.h
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Expand Up @@ -84,7 +84,7 @@ namespace pcl

typedef boost::shared_ptr< LoopGraph > LoopGraphPtr;

typedef typename pcl::Registration<PointT, PointT> Registration;
typedef pcl::Registration<PointT, PointT> Registration;
typedef typename Registration::Ptr RegistrationPtr;
typedef typename Registration::ConstPtr RegistrationConstPtr;

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2 changes: 1 addition & 1 deletion registration/include/pcl/registration/ia_ransac.h
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Expand Up @@ -128,7 +128,7 @@ namespace pcl
float threshold_;
};

typedef typename boost::shared_ptr<ErrorFunctor> ErrorFunctorPtr;
typedef boost::shared_ptr<ErrorFunctor> ErrorFunctorPtr;

typedef typename KdTreeFLANN<FeatureT>::Ptr FeatureKdTreePtr;
/** \brief Constructor. */
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10 changes: 5 additions & 5 deletions registration/include/pcl/registration/impl/ndt_2d.hpp
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Expand Up @@ -216,9 +216,9 @@ namespace pcl
template <typename PointT>
class NDTSingleGrid: public boost::noncopyable
{
typedef typename pcl::PointCloud<PointT> PointCloud;
typedef typename pcl::PointCloud<PointT>::ConstPtr PointCloudConstPtr;
typedef typename pcl::ndt2d::NormalDist<PointT> NormalDist;
typedef pcl::PointCloud<PointT> PointCloud;
typedef typename PointCloud::ConstPtr PointCloudConstPtr;
typedef pcl::ndt2d::NormalDist<PointT> NormalDist;

public:
NDTSingleGrid (PointCloudConstPtr cloud,
Expand Down Expand Up @@ -303,8 +303,8 @@ namespace pcl
template <typename PointT>
class NDT2D: public boost::noncopyable
{
typedef typename pcl::PointCloud<PointT> PointCloud;
typedef typename pcl::PointCloud<PointT>::ConstPtr PointCloudConstPtr;
typedef pcl::PointCloud<PointT> PointCloud;
typedef typename PointCloud::ConstPtr PointCloudConstPtr;
typedef NDTSingleGrid<PointT> SingleGrid;

public:
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4 changes: 2 additions & 2 deletions registration/include/pcl/registration/joint_icp.h
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Expand Up @@ -63,7 +63,7 @@ namespace pcl
typedef typename PointCloudTarget::ConstPtr PointCloudTargetConstPtr;

typedef pcl::search::KdTree<PointTarget> KdTree;
typedef typename pcl::search::KdTree<PointTarget>::Ptr KdTreePtr;
typedef typename KdTree::Ptr KdTreePtr;

typedef pcl::search::KdTree<PointSource> KdTreeReciprocal;
typedef typename KdTree::Ptr KdTreeReciprocalPtr;
Expand All @@ -75,7 +75,7 @@ namespace pcl
typedef boost::shared_ptr<JointIterativeClosestPoint<PointSource, PointTarget, Scalar> > Ptr;
typedef boost::shared_ptr<const JointIterativeClosestPoint<PointSource, PointTarget, Scalar> > ConstPtr;

typedef typename pcl::registration::CorrespondenceEstimationBase<PointSource, PointTarget, Scalar> CorrespondenceEstimation;
typedef pcl::registration::CorrespondenceEstimationBase<PointSource, PointTarget, Scalar> CorrespondenceEstimation;
typedef typename CorrespondenceEstimation::Ptr CorrespondenceEstimationPtr;
typedef typename CorrespondenceEstimation::ConstPtr CorrespondenceEstimationConstPtr;

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6 changes: 3 additions & 3 deletions registration/include/pcl/registration/registration.h
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Expand Up @@ -71,9 +71,9 @@ namespace pcl
typedef boost::shared_ptr< Registration<PointSource, PointTarget, Scalar> > Ptr;
typedef boost::shared_ptr< const Registration<PointSource, PointTarget, Scalar> > ConstPtr;

typedef typename pcl::registration::CorrespondenceRejector::Ptr CorrespondenceRejectorPtr;
typedef pcl::registration::CorrespondenceRejector::Ptr CorrespondenceRejectorPtr;
typedef pcl::search::KdTree<PointTarget> KdTree;
typedef typename pcl::search::KdTree<PointTarget>::Ptr KdTreePtr;
typedef typename KdTree::Ptr KdTreePtr;

typedef pcl::search::KdTree<PointSource> KdTreeReciprocal;
typedef typename KdTreeReciprocal::Ptr KdTreeReciprocalPtr;
Expand All @@ -92,7 +92,7 @@ namespace pcl
typedef typename TransformationEstimation::Ptr TransformationEstimationPtr;
typedef typename TransformationEstimation::ConstPtr TransformationEstimationConstPtr;

typedef typename pcl::registration::CorrespondenceEstimationBase<PointSource, PointTarget, Scalar> CorrespondenceEstimation;
typedef pcl::registration::CorrespondenceEstimationBase<PointSource, PointTarget, Scalar> CorrespondenceEstimation;
typedef typename CorrespondenceEstimation::Ptr CorrespondenceEstimationPtr;
typedef typename CorrespondenceEstimation::ConstPtr CorrespondenceEstimationConstPtr;

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4 changes: 2 additions & 2 deletions registration/include/pcl/registration/transformation_validation_euclidean.h
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Expand Up @@ -79,8 +79,8 @@ namespace pcl
typedef boost::shared_ptr<TransformationValidation<PointSource, PointTarget, Scalar> > Ptr;
typedef boost::shared_ptr<const TransformationValidation<PointSource, PointTarget, Scalar> > ConstPtr;

typedef typename pcl::search::KdTree<PointTarget> KdTree;
typedef typename pcl::search::KdTree<PointTarget>::Ptr KdTreePtr;
typedef pcl::search::KdTree<PointTarget> KdTree;
typedef typename KdTree::Ptr KdTreePtr;

typedef typename KdTree::PointRepresentationConstPtr PointRepresentationConstPtr;

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6 changes: 3 additions & 3 deletions sample_consensus/include/pcl/sample_consensus/sac_model.h
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Expand Up @@ -65,9 +65,9 @@ namespace pcl
class SampleConsensusModel
{
public:
typedef typename pcl::PointCloud<PointT> PointCloud;
typedef typename pcl::PointCloud<PointT>::ConstPtr PointCloudConstPtr;
typedef typename pcl::PointCloud<PointT>::Ptr PointCloudPtr;
typedef pcl::PointCloud<PointT> PointCloud;
typedef typename PointCloud::ConstPtr PointCloudConstPtr;
typedef typename PointCloud::Ptr PointCloudPtr;
typedef typename pcl::search::Search<PointT>::Ptr SearchPtr;

typedef boost::shared_ptr<SampleConsensusModel> Ptr;
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2 changes: 1 addition & 1 deletion segmentation/include/pcl/segmentation/cpc_segmentation.h
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Expand Up @@ -174,7 +174,7 @@ namespace pcl

class WeightedRandomSampleConsensus : public SampleConsensus<WeightSACPointType>
{
typedef typename SampleConsensusModel<WeightSACPointType>::Ptr SampleConsensusModelPtr;
typedef SampleConsensusModel<WeightSACPointType>::Ptr SampleConsensusModelPtr;

public:
typedef boost::shared_ptr<WeightedRandomSampleConsensus> Ptr;
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2 changes: 1 addition & 1 deletion segmentation/include/pcl/segmentation/edge_aware_plane_comparator.h
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Expand Up @@ -57,7 +57,7 @@ namespace pcl
typedef typename Comparator<PointT>::PointCloud PointCloud;
typedef typename Comparator<PointT>::PointCloudConstPtr PointCloudConstPtr;

typedef typename pcl::PointCloud<PointNT> PointCloudN;
typedef pcl::PointCloud<PointNT> PointCloudN;
typedef typename PointCloudN::Ptr PointCloudNPtr;
typedef typename PointCloudN::ConstPtr PointCloudNConstPtr;

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4 changes: 2 additions & 2 deletions segmentation/include/pcl/segmentation/euclidean_cluster_comparator.h
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Expand Up @@ -58,7 +58,7 @@ namespace pcl
using typename Comparator<PointT>::PointCloud;
using typename Comparator<PointT>::PointCloudConstPtr;

typedef typename pcl::PointCloud<PointLT> PointCloudL;
typedef pcl::PointCloud<PointLT> PointCloudL;
typedef typename PointCloudL::Ptr PointCloudLPtr;
typedef typename PointCloudL::ConstPtr PointCloudLConstPtr;

Expand Down Expand Up @@ -201,7 +201,7 @@ namespace pcl

public:

typedef typename pcl::PointCloud<PointNT> PointCloudN;
typedef pcl::PointCloud<PointNT> PointCloudN;
typedef typename PointCloudN::Ptr PointCloudNPtr;
typedef typename PointCloudN::ConstPtr PointCloudNConstPtr;

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2 changes: 1 addition & 1 deletion segmentation/include/pcl/segmentation/euclidean_plane_coefficient_comparator.h
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Expand Up @@ -56,7 +56,7 @@ namespace pcl
public:
typedef typename Comparator<PointT>::PointCloud PointCloud;
typedef typename Comparator<PointT>::PointCloudConstPtr PointCloudConstPtr;
typedef typename pcl::PointCloud<PointNT> PointCloudN;
typedef pcl::PointCloud<PointNT> PointCloudN;
typedef typename PointCloudN::Ptr PointCloudNPtr;
typedef typename PointCloudN::ConstPtr PointCloudNConstPtr;

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4 changes: 2 additions & 2 deletions segmentation/include/pcl/segmentation/extract_clusters.h
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Expand Up @@ -300,8 +300,8 @@ namespace pcl
typedef typename PointCloud::Ptr PointCloudPtr;
typedef typename PointCloud::ConstPtr PointCloudConstPtr;

typedef typename pcl::search::Search<PointT> KdTree;
typedef typename pcl::search::Search<PointT>::Ptr KdTreePtr;
typedef pcl::search::Search<PointT> KdTree;
typedef typename KdTree::Ptr KdTreePtr;

typedef PointIndices::Ptr PointIndicesPtr;
typedef PointIndices::ConstPtr PointIndicesConstPtr;
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4 changes: 2 additions & 2 deletions segmentation/include/pcl/segmentation/extract_labeled_clusters.h
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Expand Up @@ -76,8 +76,8 @@ namespace pcl
typedef typename PointCloud::Ptr PointCloudPtr;
typedef typename PointCloud::ConstPtr PointCloudConstPtr;

typedef typename pcl::search::Search<PointT> KdTree;
typedef typename pcl::search::Search<PointT>::Ptr KdTreePtr;
typedef pcl::search::Search<PointT> KdTree;
typedef typename KdTree::Ptr KdTreePtr;

typedef PointIndices::Ptr PointIndicesPtr;
typedef PointIndices::ConstPtr PointIndicesConstPtr;
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4 changes: 2 additions & 2 deletions segmentation/include/pcl/segmentation/grabcut_segmentation.h
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Expand Up @@ -317,8 +317,8 @@ namespace pcl
class GrabCut : public pcl::PCLBase<PointT>
{
public:
typedef typename pcl::search::Search<PointT> KdTree;
typedef typename pcl::search::Search<PointT>::Ptr KdTreePtr;
typedef pcl::search::Search<PointT> KdTree;
typedef typename KdTree::Ptr KdTreePtr;
typedef typename PCLBase<PointT>::PointCloudConstPtr PointCloudConstPtr;
typedef typename PCLBase<PointT>::PointCloudPtr PointCloudPtr;
using PCLBase<PointT>::input_;
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2 changes: 1 addition & 1 deletion segmentation/include/pcl/segmentation/ground_plane_comparator.h
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Expand Up @@ -57,7 +57,7 @@ namespace pcl
typedef typename Comparator<PointT>::PointCloud PointCloud;
typedef typename Comparator<PointT>::PointCloudConstPtr PointCloudConstPtr;

typedef typename pcl::PointCloud<PointNT> PointCloudN;
typedef pcl::PointCloud<PointNT> PointCloudN;
typedef typename PointCloudN::Ptr PointCloudNPtr;
typedef typename PointCloudN::ConstPtr PointCloudNConstPtr;

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2 changes: 1 addition & 1 deletion segmentation/include/pcl/segmentation/lccp_segmentation.h
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Expand Up @@ -81,7 +81,7 @@ namespace pcl
public:

// Adjacency list with nodes holding labels (uint32_t) and edges holding EdgeProperties.
typedef typename boost::adjacency_list<boost::setS, boost::setS, boost::undirectedS, uint32_t, EdgeProperties> SupervoxelAdjacencyList;
typedef boost::adjacency_list<boost::setS, boost::setS, boost::undirectedS, uint32_t, EdgeProperties> SupervoxelAdjacencyList;
typedef typename boost::graph_traits<SupervoxelAdjacencyList>::vertex_iterator VertexIterator;
typedef typename boost::graph_traits<SupervoxelAdjacencyList>::adjacency_iterator AdjacencyIterator;

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6 changes: 3 additions & 3 deletions segmentation/include/pcl/segmentation/organized_connected_component_segmentation.h
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Expand Up @@ -63,15 +63,15 @@ namespace pcl
using PCLBase<PointT>::deinitCompute;

public:
typedef typename pcl::PointCloud<PointT> PointCloud;
typedef pcl::PointCloud<PointT> PointCloud;
typedef typename PointCloud::Ptr PointCloudPtr;
typedef typename PointCloud::ConstPtr PointCloudConstPtr;

typedef typename pcl::PointCloud<PointLT> PointCloudL;
typedef pcl::PointCloud<PointLT> PointCloudL;
typedef typename PointCloudL::Ptr PointCloudLPtr;
typedef typename PointCloudL::ConstPtr PointCloudLConstPtr;

typedef typename pcl::Comparator<PointT> Comparator;
typedef pcl::Comparator<PointT> Comparator;
typedef typename Comparator::Ptr ComparatorPtr;
typedef typename Comparator::ConstPtr ComparatorConstPtr;

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8 changes: 4 additions & 4 deletions segmentation/include/pcl/segmentation/organized_multi_plane_segmentation.h
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Expand Up @@ -70,19 +70,19 @@ namespace pcl
typedef typename PointCloud::Ptr PointCloudPtr;
typedef typename PointCloud::ConstPtr PointCloudConstPtr;

typedef typename pcl::PointCloud<PointNT> PointCloudN;
typedef pcl::PointCloud<PointNT> PointCloudN;
typedef typename PointCloudN::Ptr PointCloudNPtr;
typedef typename PointCloudN::ConstPtr PointCloudNConstPtr;

typedef typename pcl::PointCloud<PointLT> PointCloudL;
typedef pcl::PointCloud<PointLT> PointCloudL;
typedef typename PointCloudL::Ptr PointCloudLPtr;
typedef typename PointCloudL::ConstPtr PointCloudLConstPtr;

typedef typename pcl::PlaneCoefficientComparator<PointT, PointNT> PlaneComparator;
typedef pcl::PlaneCoefficientComparator<PointT, PointNT> PlaneComparator;
typedef typename PlaneComparator::Ptr PlaneComparatorPtr;
typedef typename PlaneComparator::ConstPtr PlaneComparatorConstPtr;

typedef typename pcl::PlaneRefinementComparator<PointT, PointNT, PointLT> PlaneRefinementComparator;
typedef pcl::PlaneRefinementComparator<PointT, PointNT, PointLT> PlaneRefinementComparator;
typedef typename PlaneRefinementComparator::Ptr PlaneRefinementComparatorPtr;
typedef typename PlaneRefinementComparator::ConstPtr PlaneRefinementComparatorConstPtr;

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2 changes: 1 addition & 1 deletion segmentation/include/pcl/segmentation/plane_coefficient_comparator.h
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Expand Up @@ -57,7 +57,7 @@ namespace pcl
typedef typename Comparator<PointT>::PointCloud PointCloud;
typedef typename Comparator<PointT>::PointCloudConstPtr PointCloudConstPtr;

typedef typename pcl::PointCloud<PointNT> PointCloudN;
typedef pcl::PointCloud<PointNT> PointCloudN;
typedef typename PointCloudN::Ptr PointCloudNPtr;
typedef typename PointCloudN::ConstPtr PointCloudNConstPtr;

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4 changes: 2 additions & 2 deletions segmentation/include/pcl/segmentation/plane_refinement_comparator.h
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Expand Up @@ -57,11 +57,11 @@ namespace pcl
typedef typename Comparator<PointT>::PointCloud PointCloud;
typedef typename Comparator<PointT>::PointCloudConstPtr PointCloudConstPtr;

typedef typename pcl::PointCloud<PointNT> PointCloudN;
typedef pcl::PointCloud<PointNT> PointCloudN;
typedef typename PointCloudN::Ptr PointCloudNPtr;
typedef typename PointCloudN::ConstPtr PointCloudNConstPtr;

typedef typename pcl::PointCloud<PointLT> PointCloudL;
typedef pcl::PointCloud<PointLT> PointCloudL;
typedef typename PointCloudL::Ptr PointCloudLPtr;
typedef typename PointCloudL::ConstPtr PointCloudLConstPtr;

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2 changes: 1 addition & 1 deletion segmentation/include/pcl/segmentation/rgb_plane_coefficient_comparator.h
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Expand Up @@ -57,7 +57,7 @@ namespace pcl
typedef typename Comparator<PointT>::PointCloud PointCloud;
typedef typename Comparator<PointT>::PointCloudConstPtr PointCloudConstPtr;

typedef typename pcl::PointCloud<PointNT> PointCloudN;
typedef pcl::PointCloud<PointNT> PointCloudN;
typedef typename PointCloudN::Ptr PointCloudNPtr;
typedef typename PointCloudN::ConstPtr PointCloudNConstPtr;

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2 changes: 1 addition & 1 deletion segmentation/include/pcl/segmentation/sac_segmentation.h
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Expand Up @@ -325,7 +325,7 @@ namespace pcl
typedef typename PointCloud::Ptr PointCloudPtr;
typedef typename PointCloud::ConstPtr PointCloudConstPtr;

typedef typename pcl::PointCloud<PointNT> PointCloudN;
typedef pcl::PointCloud<PointNT> PointCloudN;
typedef typename PointCloudN::Ptr PointCloudNPtr;
typedef typename PointCloudN::ConstPtr PointCloudNConstPtr;

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4 changes: 2 additions & 2 deletions segmentation/include/pcl/segmentation/segment_differences.h
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Expand Up @@ -89,8 +89,8 @@ namespace pcl
typedef typename PointCloud::Ptr PointCloudPtr;
typedef typename PointCloud::ConstPtr PointCloudConstPtr;

typedef typename pcl::search::Search<PointT> KdTree;
typedef typename pcl::search::Search<PointT>::Ptr KdTreePtr;
typedef pcl::search::Search<PointT> KdTree;
typedef typename KdTree::Ptr KdTreePtr;

typedef PointIndices::Ptr PointIndicesPtr;
typedef PointIndices::ConstPtr PointIndicesConstPtr;
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