diff --git a/common/CMakeLists.txt b/common/CMakeLists.txt
index 28a403462c6..9e2341b0fab 100644
--- a/common/CMakeLists.txt
+++ b/common/CMakeLists.txt
@@ -32,6 +32,7 @@ set(range_image_srcs
 
 set(srcs
   src/point_types.cpp
+  src/feature_types.cpp
   src/pcl_base.cpp
   src/PCLPointCloud2.cpp
   src/io.cpp
@@ -63,7 +64,9 @@ set(incs
   include/pcl/type_traits.h
   include/pcl/point_types_conversion.h
   include/pcl/point_representation.h
+  include/pcl/descriptor_size.h
   include/pcl/point_types.h
+  include/pcl/feature_types.h
   include/pcl/for_each_type.h
   include/pcl/pcl_tests.h
   include/pcl/cloud_iterator.h
@@ -150,6 +153,7 @@ set(impl_incs
   include/pcl/impl/pcl_base.hpp
   include/pcl/impl/instantiate.hpp
   include/pcl/impl/point_types.hpp
+  include/pcl/impl/feature_types.hpp
   include/pcl/impl/cloud_iterator.hpp
 )
 
diff --git a/common/include/pcl/descriptor_size.h b/common/include/pcl/descriptor_size.h
new file mode 100644
index 00000000000..f43dcb3a60b
--- /dev/null
+++ b/common/include/pcl/descriptor_size.h
@@ -0,0 +1,23 @@
+/*
+ * SPDX-License-Identifier: BSD-3-Clause
+ *  *  Point Cloud Library (PCL) - www.pointclouds.org
+ *  Copyright (c) 2026-, Open Perception Inc.
+ *  *  All rights reserved
+ */
+
+#pragma once
+
+namespace pcl
+{
+  namespace detail
+  {
+    namespace traits
+    {
+      template<typename FeaturePointT> struct descriptorSize {};
+
+
+      template<typename FeaturePointT>
+      static constexpr int descriptorSize_v = descriptorSize<FeaturePointT>::value;
+    }
+  }
+}
diff --git a/common/include/pcl/feature_types.h b/common/include/pcl/feature_types.h
new file mode 100644
index 00000000000..16eba70b2fc
--- /dev/null
+++ b/common/include/pcl/feature_types.h
@@ -0,0 +1,82 @@
+/*
+ * SPDX-License-Identifier: BSD-3-Clause
+ *  *  Point Cloud Library (PCL) - www.pointclouds.org
+ *  Copyright (c) 2026-, Open Perception Inc.
+ *  *  All rights reserved
+ */
+
+#pragma once
+
+
+/**
+ * \file pcl/feature_types.h
+ * Defines all the PCL implemented PointT feature type structures
+ * \ingroup common
+ */
+
+/** @{*/
+namespace pcl
+{
+  /** \brief Members: float j1, j2, j3
+    * \ingroup common
+    */
+  struct MomentInvariants;
+
+  /** \brief Members: float r_min, r_max
+    * \ingroup common
+    */
+  struct PrincipalRadiiRSD;
+
+  /** \brief Members: std::uint8_t boundary_point
+    * \ingroup common
+    */
+  struct Boundary;
+
+  /** \brief Members: float principal_curvature[3], pc1, pc2
+    * \ingroup common
+    */
+  struct PrincipalCurvatures;
+
+  /** \brief Members: float descriptor[352], rf[9]
+    * \ingroup common
+    */
+  struct SHOT352;
+
+  /** \brief Members: float descriptor[1344], rf[9]
+    * \ingroup common
+    */
+  struct SHOT1344;
+
+  /** \brief Members: Axis x_axis, y_axis, z_axis
+    * \ingroup common
+    */
+  struct ReferenceFrame;
+
+  /** \brief Members: float descriptor[1980], rf[9]
+    * \ingroup common
+    */
+  struct ShapeContext1980;
+
+  /** \brief Members: float descriptor[1960], rf[9]
+    * \ingroup common
+    */
+  struct UniqueShapeContext1960;
+
+  /** \brief Members: float pfh[125]
+    * \ingroup common
+    */
+  struct PFHSignature125;
+
+  /** \brief Members: float pfhrgb[250]
+    * \ingroup common
+    */
+  struct PFHRGBSignature250;
+
+  /** \brief Members: float f1, f2, f3, f4, alpha_m
+    * \ingroup common
+    */
+  struct PPFSignature;
+} // namespace pcl
+/** @} */
+
+#include <pcl/impl/feature_types.hpp>
diff --git a/common/include/pcl/impl/feature_types.hpp b/common/include/pcl/impl/feature_types.hpp
new file mode 100644
index 00000000000..ef95b4e637b
--- /dev/null
+++ b/common/include/pcl/impl/feature_types.hpp
@@ -0,0 +1,337 @@
+/*
+ * SPDX-License-Identifier: BSD-3-Clause
+ *  *  Point Cloud Library (PCL) - www.pointclouds.org
+ *  Copyright (c) 2026-, Open Perception Inc.
+ *  *  All rights reserved
+ */
+
+#pragma once
+
+#include <pcl/descriptor_size.h>        // for descriptorSize_v
+#include <pcl/memory.h>                 // for PCL_MAKE_ALIGNED_OPERATOR_NEW
+#include <pcl/feature_types.h>          // implementee
+#include <pcl/pcl_exports.h>            // for PCL_EXPORTS
+#include <pcl/register_point_struct.h>  // for POINT_CLOUD_REGISTER_POINT_STRUCT
+#include <pcl/type_traits.h>            // for asEnum which is used internally in POINT_CLOUD_REGISTER_POINT_STRUCT
+
+#include <ostream>                      // for ostream, operator<<
+
+namespace pcl
+{
+  namespace detail
+  {
+    namespace traits
+    {
+      template<> struct descriptorSize<SHOT352> { static constexpr const int value = 352; };
+      template<> struct descriptorSize<SHOT1344> { static constexpr const int value = 1344; };
+      template<> struct descriptorSize<ShapeContext1980> { static constexpr const int value = 1980; };
+      template<> struct descriptorSize<UniqueShapeContext1960> { static constexpr const int value = 1960; };
+      template<> struct descriptorSize<PFHSignature125> { static constexpr const int value = 125; };
+      template<> struct descriptorSize<PFHRGBSignature250> { static constexpr const int value = 250; };
+    }
+  }
+  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const MomentInvariants& p);
+  /** \brief A point structure representing the three moment invariants.
+    * \ingroup common
+    */
+  struct MomentInvariants
+  {
+    float j1 = 0.f, j2 = 0.f, j3 = 0.f;
+
+    inline constexpr MomentInvariants () = default;
+
+    inline constexpr MomentInvariants (float _j1, float _j2, float _j3): j1 (_j1), j2 (_j2), j3 (_j3) {}
+
+    friend std::ostream& operator << (std::ostream& os, const MomentInvariants& p);
+  };
+
+  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const PrincipalRadiiRSD& p);
+  /** \brief A point structure representing the minimum and maximum surface radii (in meters) computed using RSD.
+    * \ingroup common
+    */
+  struct PrincipalRadiiRSD
+  {
+    float r_min = 0.f, r_max = 0.f;
+
+    inline constexpr PrincipalRadiiRSD () = default;
+
+    inline constexpr PrincipalRadiiRSD (float _r_min, float _r_max): r_min (_r_min), r_max (_r_max) {}
+
+    friend std::ostream& operator << (std::ostream& os, const PrincipalRadiiRSD& p);
+  };
+
+  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const Boundary& p);
+  /** \brief A point structure representing a description of whether a point is lying on a surface boundary or not.
+    * \ingroup common
+    */
+  struct Boundary
+  {
+    std::uint8_t boundary_point = 0;
+
+#if defined(_LIBCPP_VERSION) && _LIBCPP_VERSION <= 1101
+    constexpr operator unsigned char() const
+    {
+      return boundary_point;
+    }
+#endif
+
+    inline constexpr Boundary (std::uint8_t _boundary = 0): boundary_point (_boundary) {}
+
+    friend std::ostream& operator << (std::ostream& os, const Boundary& p);
+  };
+
+  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const PrincipalCurvatures& p);
+  /** \brief A point structure representing the principal curvatures and their magnitudes.
+    * \ingroup common
+    */
+  struct PrincipalCurvatures
+  {
+    union
+    {
+      float principal_curvature[3];
+      struct
+      {
+        float principal_curvature_x;
+        float principal_curvature_y;
+        float principal_curvature_z;
+      };
+    };
+    float pc1 = 0.f;
+    float pc2 = 0.f;
+
+    inline constexpr PrincipalCurvatures (): PrincipalCurvatures (0.f, 0.f) {}
+
+    inline constexpr PrincipalCurvatures (float _pc1, float _pc2): PrincipalCurvatures (0.f, 0.f, 0.f, _pc1, _pc2) {}
+
+    inline constexpr PrincipalCurvatures (float _x, float _y, float _z): PrincipalCurvatures (_x, _y, _z, 0.f, 0.f) {}
+
+    inline constexpr PrincipalCurvatures (float _x, float _y, float _z, float _pc1, float _pc2):
+      principal_curvature_x (_x), principal_curvature_y (_y), principal_curvature_z (_z), pc1 (_pc1), pc2 (_pc2) {}
+
+    friend std::ostream& operator << (std::ostream& os, const PrincipalCurvatures& p);
+  };
+
+  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const SHOT352& p);
+  /** \brief A point structure representing the generic Signature of Histograms of OrienTations (SHOT) - shape only.
+    * \ingroup common
+    */
+  struct SHOT352
+  {
+    float descriptor[352] = {0.f};
+    float rf[9] = {0.f};
+    static constexpr int descriptorSize () { return detail::traits::descriptorSize_v<SHOT352>; }
+
+    inline constexpr SHOT352 () = default;
+
+    friend std::ostream& operator << (std::ostream& os, const SHOT352& p);
+  };
+
+  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const SHOT1344& p);
+  /** \brief A point structure representing the generic Signature of Histograms of OrienTations (SHOT) - shape+color.
+    * \ingroup common
+    */
+  struct SHOT1344
+  {
+    float descriptor[1344] = {0.f};
+    float rf[9] = {0.f};
+    static constexpr int descriptorSize () { return detail::traits::descriptorSize_v<SHOT1344>; }
+
+    inline constexpr SHOT1344 () = default;
+
+    friend std::ostream& operator << (std::ostream& os, const SHOT1344& p);
+  };
+
+  /** \brief A structure representing the Local Reference Frame of a point.
+    *  \ingroup common
+    */
+  struct EIGEN_ALIGN16 _ReferenceFrame
+  {
+    union
+    {
+      float rf[9];
+      struct
+      {
+        float x_axis[3];
+        float y_axis[3];
+        float z_axis[3];
+      };
+    };
+
+    inline Eigen::Map<Eigen::Vector3f> getXAxisVector3fMap () { return (Eigen::Vector3f::Map (x_axis)); }
+    inline const Eigen::Map<const Eigen::Vector3f> getXAxisVector3fMap () const { return (Eigen::Vector3f::Map (x_axis)); }
+    inline Eigen::Map<Eigen::Vector3f> getYAxisVector3fMap () { return (Eigen::Vector3f::Map (y_axis)); }
+    inline const Eigen::Map<const Eigen::Vector3f> getYAxisVector3fMap () const { return (Eigen::Vector3f::Map (y_axis)); }
+    inline Eigen::Map<Eigen::Vector3f> getZAxisVector3fMap () { return (Eigen::Vector3f::Map (z_axis)); }
+    inline const Eigen::Map<const Eigen::Vector3f> getZAxisVector3fMap () const { return (Eigen::Vector3f::Map (z_axis)); }
+    inline Eigen::Map<Eigen::Matrix3f> getMatrix3fMap () { return (Eigen::Matrix3f::Map (rf)); }
+    inline const Eigen::Map<const Eigen::Matrix3f> getMatrix3fMap () const { return (Eigen::Matrix3f::Map (rf)); }
+
+    PCL_MAKE_ALIGNED_OPERATOR_NEW
+  };
+
+  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const ReferenceFrame& p);
+  struct EIGEN_ALIGN16 ReferenceFrame : public _ReferenceFrame
+  {
+    inline constexpr ReferenceFrame (const _ReferenceFrame &p) :
+      ReferenceFrame{p.rf}
+    {
+      //std::copy_n(p.rf, 9, rf); // this algorithm is constexpr starting from C++20
+    }
+
+    inline constexpr ReferenceFrame () :
+      _ReferenceFrame{ {{0.0f}} }
+    {
+      // this algorithm is constexpr starting from C++20
+      /*std::fill_n(x_axis, 3, 0.f);
+      std::fill_n(y_axis, 3, 0.f);
+      std::fill_n(z_axis, 3, 0.f);*/
+    }
+
+    inline constexpr ReferenceFrame (const float (&_rf)[9]) :
+      _ReferenceFrame{ {{_rf[0], _rf[1], _rf[2], _rf[3], _rf[4], _rf[5], _rf[6], _rf[7], _rf[8]}} } {}
+
+    friend std::ostream& operator << (std::ostream& os, const ReferenceFrame& p);
+    PCL_MAKE_ALIGNED_OPERATOR_NEW
+  };
+
+  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const ShapeContext1980& p);
+  /** \brief A point structure representing a Shape Context.
+    * \ingroup common
+    */
+  struct ShapeContext1980
+  {
+    float descriptor[1980] = {0.f};
+    float rf[9] = {0.f};
+    static constexpr int descriptorSize () { return detail::traits::descriptorSize_v<ShapeContext1980>; }
+
+    inline constexpr ShapeContext1980 () = default;
+
+    friend std::ostream& operator << (std::ostream& os, const ShapeContext1980& p);
+  };
+
+  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const UniqueShapeContext1960& p);
+  /** \brief A point structure representing a Unique Shape Context.
+    * \ingroup common
+    */
+  struct UniqueShapeContext1960
+  {
+    float descriptor[1960] = {0.f};
+    float rf[9] = {0.f};
+    static constexpr int descriptorSize () { return detail::traits::descriptorSize_v<UniqueShapeContext1960>; }
+
+    inline constexpr UniqueShapeContext1960 () = default;
+
+    friend std::ostream& operator << (std::ostream& os, const UniqueShapeContext1960& p);
+  };
+
+  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const PFHSignature125& p);
+  /** \brief A point structure representing the Point Feature Histogram (PFH).
+    * \ingroup common
+    */
+  struct PFHSignature125
+  {
+    float histogram[125] = {0.f};
+    static constexpr int descriptorSize () { return detail::traits::descriptorSize_v<PFHSignature125>; }
+
+    inline constexpr PFHSignature125 () = default;
+
+    friend std::ostream& operator << (std::ostream& os, const PFHSignature125& p);
+  };
+
+  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const PFHRGBSignature250& p);
+  /** \brief A point structure representing the Point Feature Histogram with colors (PFHRGB).
+    * \ingroup common
+    */
+  struct PFHRGBSignature250
+  {
+    float histogram[250] = {0.f};
+    static constexpr int descriptorSize () { return detail::traits::descriptorSize_v<PFHRGBSignature250>; }
+
+    inline constexpr PFHRGBSignature250 () = default;
+
+    friend std::ostream& operator << (std::ostream& os, const PFHRGBSignature250& p);
+  };
+
+  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const PPFSignature& p);
+  /** \brief A point structure for storing the Point Pair Feature (PPF) values
+    * \ingroup common
+    */
+  struct PPFSignature
+  {
+    float f1 = 0.f, f2 = 0.f, f3 = 0.f, f4 = 0.f;
+    float alpha_m = 0.f;
+
+    inline constexpr PPFSignature (float _alpha = 0.f): PPFSignature (0.f, 0.f, 0.f, 0.f, _alpha) {}
+
+    inline constexpr PPFSignature (float _f1, float _f2, float _f3, float _f4, float _alpha = 0.f):
+      f1 (_f1), f2 (_f2), f3 (_f3), f4 (_f4), alpha_m (_alpha) {}
+
+    friend std::ostream& operator << (std::ostream& os, const PPFSignature& p);
+  };
+} // namespace pcl
+
+POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::MomentInvariants,
+    (float, j1, j1)
+    (float, j2, j2)
+    (float, j3, j3)
+)
+
+POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::PrincipalRadiiRSD,
+    (float, r_min, r_min)
+    (float, r_max, r_max)
+)
+
+POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::Boundary,
+    (std::uint8_t, boundary_point, boundary_point)
+)
+
+POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::PrincipalCurvatures,
+    (float, principal_curvature_x, principal_curvature_x)
+    (float, principal_curvature_y, principal_curvature_y)
+    (float, principal_curvature_z, principal_curvature_z)
+    (float, pc1, pc1)
+    (float, pc2, pc2)
+)
+
+POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::SHOT352,
+    (float[352], descriptor, shot)
+    (float[9], rf, rf)
+)
+
+POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::SHOT1344,
+    (float[1344], descriptor, shot)
+    (float[9], rf, rf)
+)
+
+POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::_ReferenceFrame,
+    (float[3], x_axis, x_axis)
+    (float[3], y_axis, y_axis)
+    (float[3], z_axis, z_axis)
+)
+POINT_CLOUD_REGISTER_POINT_WRAPPER(pcl::ReferenceFrame, pcl::_ReferenceFrame)
+
+POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::ShapeContext1980,
+    (float[1980], descriptor, shape_context)
+    (float[9], rf, rf)
+)
+
+POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::UniqueShapeContext1960,
+    (float[1960], descriptor, shape_context)
+    (float[9], rf, rf)
+)
+
+POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::PFHSignature125,
+    (float[125], histogram, pfh)
+)
+
+POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::PFHRGBSignature250,
+    (float[250], histogram, pfhrgb)
+)
+
+POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::PPFSignature,
+    (float, f1, f1)
+    (float, f2, f2)
+    (float, f3, f3)
+    (float, f4, f4)
+    (float, alpha_m, alpha_m)
+)
diff --git a/common/include/pcl/impl/point_types.hpp b/common/include/pcl/impl/point_types.hpp
index 0f626f03652..fcabe8aa777 100644
--- a/common/include/pcl/impl/point_types.hpp
+++ b/common/include/pcl/impl/point_types.hpp
@@ -38,11 +38,13 @@
 
 #pragma once
 
+#include <pcl/descriptor_size.h>        // for descriptorSize_v
 #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/feature_types.h>          // for feature types
 #include <pcl/register_point_struct.h>  // for POINT_CLOUD_REGISTER_POINT_STRUCT, POINT_CLOUD_REGISTER_POINT_WRAPPER
 
 #include <Eigen/Core>                   // for MatrixMap
@@ -155,14 +157,6 @@ namespace pcl
   {
     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; };
@@ -175,10 +169,6 @@ namespace pcl
       template<> struct descriptorSize<Narf36> { static constexpr const int value = 36; };
       template<> struct descriptorSize<NormalBasedSignature12> { static constexpr const int value = 12; };
       template<int N> struct descriptorSize<Histogram<N>> { static constexpr const int value = N; };
-
-
-      template<typename FeaturePointT>
-      static constexpr int descriptorSize_v = descriptorSize<FeaturePointT>::value;
     }
   }
   
@@ -1093,133 +1083,6 @@ namespace pcl
     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
@@ -1275,122 +1138,6 @@ namespace pcl
     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
@@ -1902,45 +1649,6 @@ POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::_PointWithViewpoint,
 )
 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)
@@ -1970,26 +1678,6 @@ 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)
 )
@@ -2058,13 +1746,6 @@ POINT_CLOUD_REGISTER_POINT_STRUCT(pcl::PointSurfel,
     (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)
diff --git a/common/include/pcl/point_types.h b/common/include/pcl/point_types.h
index df95b97eaa2..f91269571b8 100644
--- a/common/include/pcl/point_types.h
+++ b/common/include/pcl/point_types.h
@@ -44,6 +44,8 @@
 #include <pcl/field_traits.h>
 #endif
 
+#include <pcl/feature_types.h>      // feature types are point types too
+
 #include <bitset>
 
 
@@ -182,66 +184,6 @@ namespace pcl
     */
   struct PointWithViewpoint;
 
-  /** \brief Members: float j1, j2, j3
-    * \ingroup common
-    */
-  struct MomentInvariants;
-
-  /** \brief Members: float r_min, r_max
-    * \ingroup common
-    */
-  struct PrincipalRadiiRSD;
-
-  /** \brief Members: std::uint8_t boundary_point
-    * \ingroup common
-    */
-  struct Boundary;
-
-  /** \brief Members: float principal_curvature[3], pc1, pc2
-    * \ingroup common
-    */
-  struct PrincipalCurvatures;
-
-  /** \brief Members: float descriptor[352], rf[9]
-    * \ingroup common
-    */
-  struct SHOT352;
-
-  /** \brief Members: float descriptor[1344], rf[9]
-    * \ingroup common
-    */
-  struct SHOT1344;
-
-  /** \brief Members: Axis x_axis, y_axis, z_axis
-    * \ingroup common
-    */
-  struct ReferenceFrame;
-
-  /** \brief Members: float descriptor[1980], rf[9]
-    * \ingroup common
-    */
-  struct ShapeContext1980;
-
-  /** \brief Members: float descriptor[1960], rf[9]
-    * \ingroup common
-    */
-  struct UniqueShapeContext1960;
-
-  /** \brief Members: float pfh[125]
-    * \ingroup common
-    */
-  struct PFHSignature125;
-
-  /** \brief Members: float pfhrgb[250]
-    * \ingroup common
-    */
-  struct PFHRGBSignature250;
-
-  /** \brief Members: float f1, f2, f3, f4, alpha_m
-    * \ingroup common
-    */
-  struct PPFSignature;
-
   /** \brief Members: float f1, f2, f3, f4, f5, f6, f7, f8, f9, f10, alpha_m
     * \ingroup common
     */
diff --git a/common/src/feature_types.cpp b/common/src/feature_types.cpp
new file mode 100644
index 00000000000..dded31511db
--- /dev/null
+++ b/common/src/feature_types.cpp
@@ -0,0 +1,112 @@
+/*
+ * SPDX-License-Identifier: BSD-3-Clause
+ *  *  Point Cloud Library (PCL) - www.pointclouds.org
+ *  Copyright (c) 2026-, Open Perception Inc.
+ *  *  All rights reserved
+ */
+
+#include <pcl/feature_types.h>
+
+namespace pcl
+{
+  std::ostream&
+  operator << (std::ostream& os, const MomentInvariants& p)
+  {
+    os << "(" << p.j1 << "," << p.j2 << "," << p.j3 << ")";
+    return (os);
+  }
+
+  std::ostream&
+  operator << (std::ostream& os, const PrincipalRadiiRSD& p)
+  {
+    os << "(" << p.r_min << "," << p.r_max << ")";
+    return (os);
+  }
+
+  std::ostream&
+  operator << (std::ostream& os, const Boundary& p)
+  {
+    os << p.boundary_point;
+    return (os);
+  }
+
+  std::ostream&
+  operator << (std::ostream& os, const PrincipalCurvatures& p)
+  {
+    os << "(" << p.principal_curvature[0] << "," << p.principal_curvature[1] << "," << p.principal_curvature[2] << " - " << p.pc1 << "," << p.pc2 << ")";
+    return (os);
+  }
+
+  std::ostream&
+  operator << (std::ostream& os, const SHOT352& p)
+  {
+    for (int i = 0; i < 9; ++i)
+    os << (i == 0 ? "(" : "") << p.rf[i] << (i < 8 ? ", " : ")");
+    for (std::size_t i = 0; i < 352; ++i)
+    os << (i == 0 ? "(" : "") << p.descriptor[i] << (i < 351 ? ", " : ")");
+    return (os);
+  }
+
+  std::ostream&
+  operator << (std::ostream& os, const SHOT1344& p)
+  {
+    for (int i = 0; i < 9; ++i)
+    os << (i == 0 ? "(" : "") << p.rf[i] << (i < 8 ? ", " : ")");
+    for (std::size_t i = 0; i < 1344; ++i)
+    os << (i == 0 ? "(" : "") << p.descriptor[i] << (i < 1343 ? ", " : ")");
+    return (os);
+  }
+
+  std::ostream&
+  operator << (std::ostream& os, const ReferenceFrame& p)
+  {
+    os << "("
+       << p.x_axis[0] << " " << p.x_axis[1] << " " << p.x_axis[2] << ","
+       << p.y_axis[0] << " " << p.y_axis[1] << " " << p.y_axis[2] << ","
+       << p.z_axis[0] << " " << p.z_axis[1] << " " << p.z_axis[2] << ")";
+    return (os);
+  }
+
+  std::ostream&
+  operator << (std::ostream& os, const ShapeContext1980& p)
+  {
+    for (int i = 0; i < 9; ++i)
+    os << (i == 0 ? "(" : "") << p.rf[i] << (i < 8 ? ", " : ")");
+    for (std::size_t i = 0; i < 1980; ++i)
+      os << (i == 0 ? "(" : "") << p.descriptor[i] << (i < 1979 ? ", " : ")");
+    return (os);
+  }
+
+  std::ostream&
+  operator << (std::ostream& os, const UniqueShapeContext1960& p)
+  {
+    for (int i = 0; i < 9; ++i)
+    os << (i == 0 ? "(" : "") << p.rf[i] << (i < 8 ? ", " : ")");
+    for (std::size_t i = 0; i < 1960; ++i)
+      os << (i == 0 ? "(" : "") << p.descriptor[i] << (i < 1959 ? ", " : ")");
+    return (os);
+  }
+
+  std::ostream&
+  operator << (std::ostream& os, const PFHSignature125& p)
+  {
+    for (int i = 0; i < 125; ++i)
+    os << (i == 0 ? "(" : "") << p.histogram[i] << (i < 124 ? ", " : ")");
+    return (os);
+  }
+
+  std::ostream&
+  operator << (std::ostream& os, const PFHRGBSignature250& p)
+  {
+    for (int i = 0; i < 250; ++i)
+    os << (i == 0 ? "(" : "") << p.histogram[i] << (i < 249 ? ", " : ")");
+    return (os);
+  }
+
+  std::ostream&
+  operator << (std::ostream& os, const PPFSignature& p)
+  {
+    os << "(" << p.f1 << ", " << p.f2 << ", " << p.f3 << ", " << p.f4 << ", " << p.alpha_m << ")";
+    return (os);
+  }
+} // namespace pcl
diff --git a/common/src/point_types.cpp b/common/src/point_types.cpp
index e3ab796fa79..bbe0de9e215 100644
--- a/common/src/point_types.cpp
+++ b/common/src/point_types.cpp
@@ -232,57 +232,6 @@ namespace pcl
     return (os);
   }
 
-  std::ostream& 
-  operator << (std::ostream& os, const MomentInvariants& p)
-  {
-    os << "(" << p.j1 << "," << p.j2 << "," << p.j3 << ")";
-    return (os);
-  }
-
-  std::ostream& 
-  operator << (std::ostream& os, const PrincipalRadiiRSD& p)
-  {
-    os << "(" << p.r_min << "," << p.r_max << ")";
-    return (os);
-  }
-
-  std::ostream& 
-  operator << (std::ostream& os, const Boundary& p)
-  {
-    os << p.boundary_point;
-    return (os);
-  }
-
-  std::ostream& 
-  operator << (std::ostream& os, const PrincipalCurvatures& p)
-  {
-    os << "(" << p.principal_curvature[0] << "," << p.principal_curvature[1] << "," << p.principal_curvature[2] << " - " << p.pc1 << "," << p.pc2 << ")";
-    return (os);
-  }
-
-  std::ostream& 
-  operator << (std::ostream& os, const PFHSignature125& p)
-  {
-    for (int i = 0; i < 125; ++i)
-    os << (i == 0 ? "(" : "") << p.histogram[i] << (i < 124 ? ", " : ")");
-    return (os);
-  }
-
-  std::ostream& 
-  operator << (std::ostream& os, const PFHRGBSignature250& p)
-  {
-    for (int i = 0; i < 250; ++i)
-    os << (i == 0 ? "(" : "") << p.histogram[i] << (i < 249 ? ", " : ")");
-    return (os);
-  }
-
-  std::ostream& 
-  operator << (std::ostream& os, const PPFSignature& p)
-  {
-    os << "(" << p.f1 << ", " << p.f2 << ", " << p.f3 << ", " << p.f4 << ", " << p.alpha_m << ")";
-    return (os);
-  }
-
   std::ostream& 
   operator << (std::ostream& os, const CPPFSignature& p)
   {
@@ -306,56 +255,6 @@ namespace pcl
     return (os);
   }
 
-  std::ostream& 
-  operator << (std::ostream& os, const ShapeContext1980& p)
-  {
-    for (int i = 0; i < 9; ++i)
-    os << (i == 0 ? "(" : "") << p.rf[i] << (i < 8 ? ", " : ")");
-    for (std::size_t i = 0; i < 1980; ++i)
-      os << (i == 0 ? "(" : "") << p.descriptor[i] << (i < 1979 ? ", " : ")");
-    return (os);
-  }
-
-  std::ostream& 
-  operator << (std::ostream& os, const UniqueShapeContext1960& p)
-  {
-    for (int i = 0; i < 9; ++i)
-    os << (i == 0 ? "(" : "") << p.rf[i] << (i < 8 ? ", " : ")");
-    for (std::size_t i = 0; i < 1960; ++i)
-      os << (i == 0 ? "(" : "") << p.descriptor[i] << (i < 1959 ? ", " : ")");
-    return (os);
-  }
-
-  std::ostream& 
-  operator << (std::ostream& os, const SHOT352& p)
-  {
-    for (int i = 0; i < 9; ++i)
-    os << (i == 0 ? "(" : "") << p.rf[i] << (i < 8 ? ", " : ")");
-    for (std::size_t i = 0; i < 352; ++i)
-    os << (i == 0 ? "(" : "") << p.descriptor[i] << (i < 351 ? ", " : ")");
-    return (os);
-  }
-
-  std::ostream& 
-  operator << (std::ostream& os, const SHOT1344& p)
-  {
-    for (int i = 0; i < 9; ++i)
-    os << (i == 0 ? "(" : "") << p.rf[i] << (i < 8 ? ", " : ")");
-    for (std::size_t i = 0; i < 1344; ++i)
-    os << (i == 0 ? "(" : "") << p.descriptor[i] << (i < 1343 ? ", " : ")");
-    return (os);
-  }
-
-  std::ostream& 
-  operator << (std::ostream& os, const ReferenceFrame& p)
-  {
-    os << "("
-       << p.x_axis[0] << " " << p.x_axis[1] << " " << p.x_axis[2] << ","
-       << p.y_axis[0] << " " << p.y_axis[1] << " " << p.y_axis[2] << ","
-       << p.z_axis[0] << " " << p.z_axis[1] << " " << p.z_axis[2] << ")";
-    return (os);
-  }
-
   std::ostream& 
   operator << (std::ostream& os, const FPFHSignature33& p)
   {
diff --git a/features/include/pcl/features/3dsc.h b/features/include/pcl/features/3dsc.h
index 65bac7c1cf3..a8a194bd398 100644
--- a/features/include/pcl/features/3dsc.h
+++ b/features/include/pcl/features/3dsc.h
@@ -42,7 +42,7 @@
 
 #include <random>
 
-#include <pcl/point_types.h>
+#include <pcl/feature_types.h>
 #include <pcl/features/feature.h>
 
 namespace pcl
diff --git a/features/include/pcl/features/board.h b/features/include/pcl/features/board.h
index 2debbf0f24b..7d6542f9c60 100644
--- a/features/include/pcl/features/board.h
+++ b/features/include/pcl/features/board.h
@@ -39,7 +39,7 @@
 
 #pragma once
 
-#include <pcl/point_types.h>
+#include <pcl/feature_types.h>
 #include <pcl/features/feature.h>
 
 namespace pcl
diff --git a/features/include/pcl/features/flare.h b/features/include/pcl/features/flare.h
index d03acd3b845..51f2e5c7fe6 100644
--- a/features/include/pcl/features/flare.h
+++ b/features/include/pcl/features/flare.h
@@ -38,7 +38,7 @@
 
 #pragma once
 
-#include <pcl/point_types.h>
+#include <pcl/feature_types.h>
 #include <pcl/features/feature.h>
 #include <pcl/features/normal_3d.h>
 
diff --git a/features/include/pcl/features/pfh.h b/features/include/pcl/features/pfh.h
index d8f3eecfef7..4ca9e9a6250 100644
--- a/features/include/pcl/features/pfh.h
+++ b/features/include/pcl/features/pfh.h
@@ -40,7 +40,7 @@
 
 #pragma once
 
-#include <pcl/point_types.h>
+#include <pcl/feature_types.h>
 #include <pcl/features/feature.h>
 #include <map>
 #include <queue> // for std::queue
diff --git a/features/include/pcl/features/pfhrgb.h b/features/include/pcl/features/pfhrgb.h
index de87ce6bd94..d3d1b9ca898 100644
--- a/features/include/pcl/features/pfhrgb.h
+++ b/features/include/pcl/features/pfhrgb.h
@@ -39,6 +39,7 @@
 
 #pragma once
 
+#include <pcl/feature_types.h>
 #include <pcl/features/feature.h>
 
 namespace pcl
diff --git a/features/include/pcl/features/shot.h b/features/include/pcl/features/shot.h
index d278076b29f..df9b3a177dc 100644
--- a/features/include/pcl/features/shot.h
+++ b/features/include/pcl/features/shot.h
@@ -39,7 +39,7 @@
 
 #pragma once
 
-#include <pcl/point_types.h>
+#include <pcl/feature_types.h>
 #include <pcl/features/feature.h>
 
 #include <array>  // for sRGB_LUT, sXYZ_LUT
diff --git a/features/include/pcl/features/shot_lrf.h b/features/include/pcl/features/shot_lrf.h
index 9a122e2db2f..5b1f1f2f782 100644
--- a/features/include/pcl/features/shot_lrf.h
+++ b/features/include/pcl/features/shot_lrf.h
@@ -39,7 +39,7 @@
 
 #pragma once
 
-#include <pcl/point_types.h>
+#include <pcl/feature_types.h>
 #include <pcl/features/feature.h>
 
 namespace pcl
diff --git a/features/include/pcl/features/shot_lrf_omp.h b/features/include/pcl/features/shot_lrf_omp.h
index 1c32ccffea9..6addc0a0623 100644
--- a/features/include/pcl/features/shot_lrf_omp.h
+++ b/features/include/pcl/features/shot_lrf_omp.h
@@ -39,7 +39,7 @@
 
 #pragma once
 
-#include <pcl/point_types.h>
+#include <pcl/feature_types.h>
 #include <pcl/features/feature.h>
 #include <pcl/features/shot_lrf.h>
 
diff --git a/features/include/pcl/features/shot_omp.h b/features/include/pcl/features/shot_omp.h
index 50fefdf9a2c..01b016f4ce6 100644
--- a/features/include/pcl/features/shot_omp.h
+++ b/features/include/pcl/features/shot_omp.h
@@ -39,7 +39,7 @@
 
 #pragma once
 
-#include <pcl/point_types.h>
+#include <pcl/feature_types.h>
 #include <pcl/features/feature.h>
 #include <pcl/features/shot.h>
 
diff --git a/features/include/pcl/features/usc.h b/features/include/pcl/features/usc.h
index 0ad9cd2089c..a65cc4e84f7 100644
--- a/features/include/pcl/features/usc.h
+++ b/features/include/pcl/features/usc.h
@@ -40,7 +40,7 @@
 
 #pragma once
 
-#include <pcl/point_types.h>
+#include <pcl/feature_types.h>
 #include <pcl/features/feature.h>
 
 namespace pcl
diff --git a/recognition/include/pcl/recognition/cg/hough_3d.h b/recognition/include/pcl/recognition/cg/hough_3d.h
index 2a736805e3c..ed7eee26389 100644
--- a/recognition/include/pcl/recognition/cg/hough_3d.h
+++ b/recognition/include/pcl/recognition/cg/hough_3d.h
@@ -42,7 +42,7 @@
 #include <pcl/recognition/cg/correspondence_grouping.h>
 #include <pcl/memory.h>
 #include <pcl/pcl_macros.h>
-#include <pcl/point_types.h>
+#include <pcl/feature_types.h>
 
 #include <unordered_map>