| BoundingBoxRaw | A BoundingBoxRaw descriptor to compute the dimensions of the bounding box that encloses a neighborhood of points within a radius of the interest point/region |
| BoundingBoxSpectral | A BoundingBoxSpectral descriptor to compute the dimensions of the bounding box in principle component space that encloses a neighborhood of points within a radius of the interest point/region |
| Channel | A Channel descriptor uses the value in a specified channel of a sensor_msgs::PointCloud as the feature value |
| Curvature | A Curvature descriptor computes the local curvature around an intersest point/region |
| Descriptor3D | Descriptor3D is the abstract base class for all descriptors that operate on 3-D data. All inheriting classes define all necessary parameters in their constructor. Hence, after instantiation, all descriptors can compute feature values through the compute() method. The number of feature values the descriptor generates on success is given by getResultSize() |
| NeighborhoodFeature | A NeighborhoodFeature is an abstract base class for descriptors that use a local neighborhood of points to compute features |
| OrientationGeneric | OrientationGeneric is an abstract base class for descriptors that compute the angle between a locally extracted direction and a specified reference direction. the Orientation descriptor |
| OrientationNormal | An OrientationNormal descriptor uses extracted local normals around each interest point/region to use as the local directions |
| OrientationTangent | An OrientationTangent descriptor uses extracted local tangents around each interest point/region to use as the local directions |
| Position | A Position descriptor defines a feature from the z-coordinate of the interest point or the interest region's centroid |
| ShapeSpectral | A ShapeSpectral descriptor computes features that indicate the flat-ness (F), linear-ness (L), and scattered-ness (S) of a local neighborhood around an interest point/region |
| SpectralAnalysis | A SpectralAnalysis performs eigen-analysis on neighborhoods of point clouds and saves the resulting eigenvectors and eigenvalues |
| SpinImageCustom | A SpinImageCustom descriptor computes a spin image spinning around a custom reference direction/axis |
| SpinImageGeneric | SpinImageGeneric is the base class for descriptors that compute spin images as described in: Johnson and Hebert, "Using Spin-Images for Efficient Object Recognition in Cluttered 3-D Scenes", PAMI 1999 |
| SpinImageNormal | A SpinImageNormal descriptor computes a spin image spinning around the locally extracted normal vector |
| SpinImageTangent | A SpinImageTangent descriptor computes a spin image spinning around the locally extracted tangent vector |