BoundaryEstimation estimates whether a set of points is lying on surface boundaries using an angle criterion. The code makes use of the estimated surface normals at each point in the input data set. FPFHEstimation estimates the Fast Point Feature Histogram (FPFH) descriptor for a given point cloud dataset containing points and normals. FPFHEstimationOMP estimates the Fast Point Feature Histogram (FPFH) descriptor for a given point cloud dataset containing points and normals, in parallel, using the OpenMP standard. SHOTEstimation estimates SHOT descriptor for a given point cloud dataset containing points and normals. SHOTEstimationOMP estimates SHOT descriptor for a given point cloud dataset containing points and normals, in parallel, using the OpenMP standard. MomentInvariantsEstimation estimates the 3 moment invariants (j1, j2, j3) at each 3D point. NormalEstimationOMP estimates local surface properties at each 3D point, such as surface normals and curvatures, in parallel, using the OpenMP standard. NormalEstimationTBB estimates local surface properties at each 3D point, such as surface normals and curvatures, in parallel, using Intel's Threading Building Blocks library. NormalEstimation estimates local surface properties at each 3D point, such as surface normals and curvatures. PFHEstimation estimates the Point Feature Histogram (PFH) descriptor for a given point cloud dataset containing points and normals. PrincipalCurvaturesEstimation estimates the directions (eigenvectors) and magnitudes (eigenvalues) of principal surface curvatures for a given point cloud dataset containing points and normals. VFHEstimation estimates the Viewpoint Feature Histogram (VFH) global descriptor for a given point cloud cluster dataset containing points and normals.