diff --git a/features/include/pcl/features/brisk_2d.h b/features/include/pcl/features/brisk_2d.h
index b2b7edea58c..c2896280654 100644
--- a/features/include/pcl/features/brisk_2d.h
+++ b/features/include/pcl/features/brisk_2d.h
@@ -70,14 +70,14 @@ namespace pcl
       typedef boost::shared_ptr<BRISK2DEstimation<PointInT, PointOutT, KeypointT, IntensityT> > Ptr;
       typedef boost::shared_ptr<const BRISK2DEstimation<PointInT, PointOutT, KeypointT, IntensityT> > ConstPtr;
 
-      typedef typename pcl::PointCloud<PointInT> PointCloudInT;
-      typedef typename pcl::PointCloud<PointInT>::ConstPtr PointCloudInTConstPtr;
+      typedef pcl::PointCloud<PointInT> PointCloudInT;
+      typedef typename PointCloudInT::ConstPtr PointCloudInTConstPtr;
 
-      typedef typename pcl::PointCloud<KeypointT> KeypointPointCloudT;
-      typedef typename pcl::PointCloud<KeypointT>::Ptr KeypointPointCloudTPtr;
-      typedef typename pcl::PointCloud<KeypointT>::ConstPtr KeypointPointCloudTConstPtr;
+      typedef pcl::PointCloud<KeypointT> KeypointPointCloudT;
+      typedef typename KeypointPointCloudT::Ptr KeypointPointCloudTPtr;
+      typedef typename KeypointPointCloudT::ConstPtr KeypointPointCloudTConstPtr;
 
-      typedef typename pcl::PointCloud<PointOutT> PointCloudOutT;
+      typedef pcl::PointCloud<PointOutT> PointCloudOutT;
 
       /** \brief Constructor. */
       BRISK2DEstimation ();
diff --git a/features/include/pcl/features/cvfh.h b/features/include/pcl/features/cvfh.h
index 013193a8da5..215759b2a03 100644
--- a/features/include/pcl/features/cvfh.h
+++ b/features/include/pcl/features/cvfh.h
@@ -76,7 +76,7 @@ namespace pcl
 
       typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;
       typedef typename pcl::search::Search<PointNormal>::Ptr KdTreePtr;
-      typedef typename pcl::VFHEstimation<PointInT, PointNT, pcl::VFHSignature308> VFHEstimator;
+      typedef pcl::VFHEstimation<PointInT, PointNT, pcl::VFHSignature308> VFHEstimator;
 
       /** \brief Empty constructor. */
       CVFHEstimation () :
diff --git a/features/include/pcl/features/don.h b/features/include/pcl/features/don.h
index d32a72badaf..730c71972c0 100644
--- a/features/include/pcl/features/don.h
+++ b/features/include/pcl/features/don.h
@@ -70,7 +70,7 @@ namespace pcl
       using Feature<PointInT, PointOutT>::getClassName;
       using Feature<PointInT, PointOutT>::feature_name_;
       using PCLBase<PointInT>::input_;
-      typedef typename pcl::PointCloud<PointNT> PointCloudN;
+      typedef pcl::PointCloud<PointNT> PointCloudN;
       typedef typename PointCloudN::Ptr PointCloudNPtr;
       typedef typename PointCloudN::ConstPtr PointCloudNConstPtr;
       typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;
diff --git a/features/include/pcl/features/esf.h b/features/include/pcl/features/esf.h
index 141cffed34b..ffef6b296e3 100644
--- a/features/include/pcl/features/esf.h
+++ b/features/include/pcl/features/esf.h
@@ -70,7 +70,7 @@ namespace pcl
       using Feature<PointInT, PointOutT>::input_;
       using Feature<PointInT, PointOutT>::surface_;
 
-      typedef typename pcl::PointCloud<PointInT> PointCloudIn;
+      typedef pcl::PointCloud<PointInT> PointCloudIn;
       typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;
 
       /** \brief Empty constructor. */
diff --git a/features/include/pcl/features/feature.h b/features/include/pcl/features/feature.h
index 8b887f67650..5cef4b398d2 100644
--- a/features/include/pcl/features/feature.h
+++ b/features/include/pcl/features/feature.h
@@ -112,8 +112,8 @@ namespace pcl
       typedef boost::shared_ptr< Feature<PointInT, PointOutT> > Ptr;
       typedef boost::shared_ptr< const Feature<PointInT, PointOutT> > ConstPtr;
 
-      typedef typename pcl::search::Search<PointInT> KdTree;
-      typedef typename pcl::search::Search<PointInT>::Ptr KdTreePtr;
+      typedef pcl::search::Search<PointInT> KdTree;
+      typedef typename KdTree::Ptr KdTreePtr;
 
       typedef pcl::PointCloud<PointInT> PointCloudIn;
       typedef typename PointCloudIn::Ptr PointCloudInPtr;
@@ -314,7 +314,7 @@ namespace pcl
     typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;
 
     public:
-      typedef typename pcl::PointCloud<PointNT> PointCloudN;
+      typedef pcl::PointCloud<PointNT> PointCloudN;
       typedef typename PointCloudN::Ptr PointCloudNPtr;
       typedef typename PointCloudN::ConstPtr PointCloudNConstPtr;
 
@@ -370,7 +370,7 @@ namespace pcl
     typedef typename PointCloudIn::Ptr PointCloudInPtr;
     typedef typename PointCloudIn::ConstPtr PointCloudInConstPtr;
 
-    typedef typename pcl::PointCloud<PointLT> PointCloudL;
+    typedef pcl::PointCloud<PointLT> PointCloudL;
     typedef typename PointCloudL::Ptr PointCloudNPtr;
     typedef typename PointCloudL::ConstPtr PointCloudLConstPtr;
 
diff --git a/features/include/pcl/features/flare.h b/features/include/pcl/features/flare.h
index 30911c30bbe..12dbecac46b 100644
--- a/features/include/pcl/features/flare.h
+++ b/features/include/pcl/features/flare.h
@@ -81,7 +81,7 @@ namespace pcl
 
       using typename Feature<PointInT, PointOutT>::KdTreePtr;
 
-      typedef typename pcl::PointCloud<SignedDistanceT> PointCloudSignedDistance;
+      typedef pcl::PointCloud<SignedDistanceT> PointCloudSignedDistance;
       typedef typename PointCloudSignedDistance::Ptr PointCloudSignedDistancePtr;
 
       typedef boost::shared_ptr<FLARELocalReferenceFrameEstimation<PointInT, PointNT, PointOutT> > Ptr;
diff --git a/features/include/pcl/features/intensity_spin.h b/features/include/pcl/features/intensity_spin.h
index a0d23c010e6..7834254c86d 100644
--- a/features/include/pcl/features/intensity_spin.h
+++ b/features/include/pcl/features/intensity_spin.h
@@ -70,7 +70,7 @@ namespace pcl
       using Feature<PointInT, PointOutT>::tree_;
       using Feature<PointInT, PointOutT>::search_radius_;
       
-      typedef typename pcl::PointCloud<PointInT> PointCloudIn;
+      typedef pcl::PointCloud<PointInT> PointCloudIn;
       typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;
 
       /** \brief Empty constructor. */
diff --git a/features/include/pcl/features/normal_based_signature.h b/features/include/pcl/features/normal_based_signature.h
index a6f3b1741f5..afabde910d6 100644
--- a/features/include/pcl/features/normal_based_signature.h
+++ b/features/include/pcl/features/normal_based_signature.h
@@ -67,8 +67,8 @@ namespace pcl
       using FeatureFromNormals<PointT, PointNT, PointFeature>::normals_;
 
       typedef pcl::PointCloud<PointFeature> FeatureCloud;
-      typedef typename boost::shared_ptr<NormalBasedSignatureEstimation<PointT, PointNT, PointFeature> > Ptr;
-      typedef typename boost::shared_ptr<const NormalBasedSignatureEstimation<PointT, PointNT, PointFeature> > ConstPtr;
+      typedef boost::shared_ptr<NormalBasedSignatureEstimation<PointT, PointNT, PointFeature> > Ptr;
+      typedef boost::shared_ptr<const NormalBasedSignatureEstimation<PointT, PointNT, PointFeature> > ConstPtr;
 
 
 
diff --git a/features/include/pcl/features/organized_edge_detection.h b/features/include/pcl/features/organized_edge_detection.h
index ed38d1e6689..09d5abf0d5b 100644
--- a/features/include/pcl/features/organized_edge_detection.h
+++ b/features/include/pcl/features/organized_edge_detection.h
@@ -56,11 +56,11 @@ namespace pcl
   template <typename PointT, typename PointLT>
   class OrganizedEdgeBase : public PCLBase<PointT>
   {
-    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;
 
@@ -181,11 +181,11 @@ namespace pcl
   template <typename PointT, typename PointLT>
   class OrganizedEdgeFromRGB : virtual public OrganizedEdgeBase<PointT, PointLT>
   {
-    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;
 
@@ -267,15 +267,15 @@ namespace pcl
   template <typename PointT, typename PointNT, typename PointLT>
   class OrganizedEdgeFromNormals : virtual public OrganizedEdgeBase<PointT, PointLT>
   {
-    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<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;
 
@@ -377,15 +377,15 @@ namespace pcl
   template <typename PointT, typename PointNT, typename PointLT>
   class OrganizedEdgeFromRGBNormals : public OrganizedEdgeFromRGB<PointT, PointLT>, public OrganizedEdgeFromNormals<PointT, PointNT, PointLT>
   {
-    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<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;
 
diff --git a/features/include/pcl/features/rift.h b/features/include/pcl/features/rift.h
index ff0c9b57e54..3c96a6b494d 100644
--- a/features/include/pcl/features/rift.h
+++ b/features/include/pcl/features/rift.h
@@ -68,15 +68,15 @@ namespace pcl
       using Feature<PointInT, PointOutT>::tree_;
       using Feature<PointInT, PointOutT>::search_radius_;
       
-      typedef typename pcl::PointCloud<PointInT> PointCloudIn;
+      typedef pcl::PointCloud<PointInT> PointCloudIn;
       typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;
 
-      typedef typename pcl::PointCloud<GradientT> PointCloudGradient;
+      typedef pcl::PointCloud<GradientT> PointCloudGradient;
       typedef typename PointCloudGradient::Ptr PointCloudGradientPtr;
       typedef typename PointCloudGradient::ConstPtr PointCloudGradientConstPtr;
 
-      typedef typename boost::shared_ptr<RIFTEstimation<PointInT, GradientT, PointOutT> > Ptr;
-      typedef typename boost::shared_ptr<const RIFTEstimation<PointInT, GradientT, PointOutT> > ConstPtr;
+      typedef boost::shared_ptr<RIFTEstimation<PointInT, GradientT, PointOutT> > Ptr;
+      typedef boost::shared_ptr<const RIFTEstimation<PointInT, GradientT, PointOutT> > ConstPtr;
 
 
       /** \brief Empty constructor. */
diff --git a/features/include/pcl/features/rsd.h b/features/include/pcl/features/rsd.h
index a45cb598004..fe87d9736e3 100644
--- a/features/include/pcl/features/rsd.h
+++ b/features/include/pcl/features/rsd.h
@@ -160,8 +160,8 @@ namespace pcl
       typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;
       typedef typename Feature<PointInT, PointOutT>::PointCloudIn  PointCloudIn;
 
-      typedef typename boost::shared_ptr<RSDEstimation<PointInT, PointNT, PointOutT> > Ptr;
-      typedef typename boost::shared_ptr<const RSDEstimation<PointInT, PointNT, PointOutT> > ConstPtr;
+      typedef boost::shared_ptr<RSDEstimation<PointInT, PointNT, PointOutT> > Ptr;
+      typedef boost::shared_ptr<const RSDEstimation<PointInT, PointNT, PointOutT> > ConstPtr;
 
 
       /** \brief Empty constructor. */
diff --git a/features/include/pcl/features/spin_image.h b/features/include/pcl/features/spin_image.h
index 887295e4a6c..e28e2cc4e2a 100644
--- a/features/include/pcl/features/spin_image.h
+++ b/features/include/pcl/features/spin_image.h
@@ -100,11 +100,11 @@ namespace pcl
 
       typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;
 
-      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<PointInT> PointCloudIn;
+      typedef pcl::PointCloud<PointInT> PointCloudIn;
       typedef typename PointCloudIn::Ptr PointCloudInPtr;
       typedef typename PointCloudIn::ConstPtr PointCloudInConstPtr;
       
diff --git a/features/include/pcl/features/statistical_multiscale_interest_region_extraction.h b/features/include/pcl/features/statistical_multiscale_interest_region_extraction.h
index 3a4a87c9005..64515144d5f 100644
--- a/features/include/pcl/features/statistical_multiscale_interest_region_extraction.h
+++ b/features/include/pcl/features/statistical_multiscale_interest_region_extraction.h
@@ -65,8 +65,8 @@ namespace pcl
   {
     public:
       typedef boost::shared_ptr <std::vector<int> > IndicesPtr;
-      typedef typename boost::shared_ptr<StatisticalMultiscaleInterestRegionExtraction<PointT> > Ptr;
-      typedef typename boost::shared_ptr<const StatisticalMultiscaleInterestRegionExtraction<PointT> > ConstPtr;
+      typedef boost::shared_ptr<StatisticalMultiscaleInterestRegionExtraction<PointT> > Ptr;
+      typedef boost::shared_ptr<const StatisticalMultiscaleInterestRegionExtraction<PointT> > ConstPtr;
 
 
       /** \brief Empty constructor */
diff --git a/features/include/pcl/features/usc.h b/features/include/pcl/features/usc.h
index 816ec2b615c..2045efa3973 100644
--- a/features/include/pcl/features/usc.h
+++ b/features/include/pcl/features/usc.h
@@ -77,8 +77,8 @@ namespace pcl
 
       typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;
       typedef typename Feature<PointInT, PointOutT>::PointCloudIn PointCloudIn;
-      typedef typename boost::shared_ptr<UniqueShapeContext<PointInT, PointOutT, PointRFT> > Ptr;
-      typedef typename boost::shared_ptr<const UniqueShapeContext<PointInT, PointOutT, PointRFT> > ConstPtr;
+      typedef boost::shared_ptr<UniqueShapeContext<PointInT, PointOutT, PointRFT> > Ptr;
+      typedef boost::shared_ptr<const UniqueShapeContext<PointInT, PointOutT, PointRFT> > ConstPtr;
 
 
       /** \brief Constructor. */
diff --git a/features/include/pcl/features/vfh.h b/features/include/pcl/features/vfh.h
index 665b38dbfbf..8679a7285fe 100644
--- a/features/include/pcl/features/vfh.h
+++ b/features/include/pcl/features/vfh.h
@@ -80,8 +80,8 @@ namespace pcl
       using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;
 
       typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;
-      typedef typename boost::shared_ptr<VFHEstimation<PointInT, PointNT, PointOutT> > Ptr;
-      typedef typename boost::shared_ptr<const VFHEstimation<PointInT, PointNT, PointOutT> > ConstPtr;
+      typedef boost::shared_ptr<VFHEstimation<PointInT, PointNT, PointOutT> > Ptr;
+      typedef boost::shared_ptr<const VFHEstimation<PointInT, PointNT, PointOutT> > ConstPtr;
 
 
       /** \brief Empty constructor. */
diff --git a/filters/include/pcl/filters/conditional_removal.h b/filters/include/pcl/filters/conditional_removal.h
index e395d17be2e..4bd5f4ea4f0 100644
--- a/filters/include/pcl/filters/conditional_removal.h
+++ b/filters/include/pcl/filters/conditional_removal.h
@@ -445,7 +445,7 @@ namespace pcl
   class ConditionBase
   {
     public:
-      typedef typename pcl::ComparisonBase<PointT> ComparisonBase;
+      typedef pcl::ComparisonBase<PointT> ComparisonBase;
       typedef typename ComparisonBase::Ptr ComparisonBasePtr;
       typedef typename ComparisonBase::ConstPtr ComparisonBaseConstPtr;
 
@@ -605,7 +605,7 @@ namespace pcl
     typedef typename PointCloud::ConstPtr PointCloudConstPtr;
 
     public:
-      typedef typename pcl::ConditionBase<PointT> ConditionBase;
+      typedef pcl::ConditionBase<PointT> ConditionBase;
       typedef typename ConditionBase::Ptr ConditionBasePtr;
       typedef typename ConditionBase::ConstPtr ConditionBaseConstPtr;
 
diff --git a/filters/include/pcl/filters/convolution.h b/filters/include/pcl/filters/convolution.h
index fcc63195d66..41f7ba6ffa8 100644
--- a/filters/include/pcl/filters/convolution.h
+++ b/filters/include/pcl/filters/convolution.h
@@ -76,10 +76,10 @@ namespace pcl
     class Convolution
     {
       public:
-        typedef typename pcl::PointCloud<PointIn> PointCloudIn;
+        typedef pcl::PointCloud<PointIn> PointCloudIn;
         typedef typename PointCloudIn::Ptr PointCloudInPtr;
         typedef typename PointCloudIn::ConstPtr PointCloudInConstPtr;
-        typedef typename pcl::PointCloud<PointOut> PointCloudOut;
+        typedef pcl::PointCloud<PointOut> PointCloudOut;
         typedef boost::shared_ptr< Convolution<PointIn, PointOut> > Ptr;
         typedef boost::shared_ptr< const Convolution<PointIn, PointOut> > ConstPtr;
 
diff --git a/filters/include/pcl/filters/convolution_3d.h b/filters/include/pcl/filters/convolution_3d.h
index 6147e79e50f..22bd3a25948 100644
--- a/filters/include/pcl/filters/convolution_3d.h
+++ b/filters/include/pcl/filters/convolution_3d.h
@@ -199,11 +199,11 @@ namespace pcl
     class Convolution3D : public pcl::PCLBase <PointIn>
     {
       public:
-        typedef typename pcl::PointCloud<PointIn> PointCloudIn;
+        typedef pcl::PointCloud<PointIn> PointCloudIn;
         typedef typename PointCloudIn::ConstPtr PointCloudInConstPtr;
-        typedef typename pcl::search::Search<PointIn> KdTree;
-        typedef typename pcl::search::Search<PointIn>::Ptr KdTreePtr;
-        typedef typename pcl::PointCloud<PointOut> PointCloudOut;
+        typedef pcl::search::Search<PointIn> KdTree;
+        typedef typename KdTree::Ptr KdTreePtr;
+        typedef pcl::PointCloud<PointOut> PointCloudOut;
         typedef boost::shared_ptr<Convolution3D<PointIn, PointOut, KernelT> > Ptr;
         typedef boost::shared_ptr<Convolution3D<PointIn, PointOut, KernelT> > ConstPtr;
 
diff --git a/filters/include/pcl/filters/model_outlier_removal.h b/filters/include/pcl/filters/model_outlier_removal.h
index 594d06f8d77..d968def0065 100644
--- a/filters/include/pcl/filters/model_outlier_removal.h
+++ b/filters/include/pcl/filters/model_outlier_removal.h
@@ -74,8 +74,8 @@ namespace pcl
       typedef typename SampleConsensusModel<PointT>::Ptr SampleConsensusModelPtr;
 
     public:
-      typedef typename pcl::PointCloud<pcl::Normal>::Ptr PointCloudNPtr;
-      typedef typename pcl::PointCloud<pcl::Normal>::ConstPtr PointCloudNConstPtr;
+      typedef pcl::PointCloud<pcl::Normal>::Ptr PointCloudNPtr;
+      typedef pcl::PointCloud<pcl::Normal>::ConstPtr PointCloudNConstPtr;
 
       /** \brief Constructor.
        * \param[in] extract_removed_indices Set to true if you want to be able to extract the indices of points being removed (default = false).
diff --git a/filters/include/pcl/filters/sampling_surface_normal.h b/filters/include/pcl/filters/sampling_surface_normal.h
index c5bd4871107..770b96ac2aa 100644
--- a/filters/include/pcl/filters/sampling_surface_normal.h
+++ b/filters/include/pcl/filters/sampling_surface_normal.h
@@ -62,7 +62,7 @@ namespace pcl
     typedef typename PointCloud::Ptr PointCloudPtr;
     typedef typename PointCloud::ConstPtr PointCloudConstPtr;
 
-    typedef typename Eigen::Matrix<float, Eigen::Dynamic, 1> Vector;
+    typedef Eigen::Matrix<float, Eigen::Dynamic, 1> Vector;
 
     public:
 
diff --git a/keypoints/include/pcl/keypoints/harris_3d.h b/keypoints/include/pcl/keypoints/harris_3d.h
index ff10d36b5b2..174565f0c55 100644
--- a/keypoints/include/pcl/keypoints/harris_3d.h
+++ b/keypoints/include/pcl/keypoints/harris_3d.h
@@ -59,7 +59,7 @@ namespace pcl
       typedef typename Keypoint<PointInT, PointOutT>::KdTree KdTree;
       typedef typename PointCloudIn::ConstPtr PointCloudInConstPtr;
 
-      typedef typename pcl::PointCloud<NormalT> PointCloudN;
+      typedef pcl::PointCloud<NormalT> PointCloudN;
       typedef typename PointCloudN::Ptr PointCloudNPtr;
       typedef typename PointCloudN::ConstPtr PointCloudNConstPtr;
 
diff --git a/keypoints/include/pcl/keypoints/iss_3d.h b/keypoints/include/pcl/keypoints/iss_3d.h
index e163141f033..7513c5ab879 100644
--- a/keypoints/include/pcl/keypoints/iss_3d.h
+++ b/keypoints/include/pcl/keypoints/iss_3d.h
@@ -90,11 +90,11 @@ namespace pcl
       typedef typename Keypoint<PointInT, PointOutT>::PointCloudIn PointCloudIn;
       typedef typename Keypoint<PointInT, PointOutT>::PointCloudOut PointCloudOut;
 
-      typedef typename pcl::PointCloud<NormalT> PointCloudN;
+      typedef pcl::PointCloud<NormalT> PointCloudN;
       typedef typename PointCloudN::Ptr PointCloudNPtr;
       typedef typename PointCloudN::ConstPtr PointCloudNConstPtr;
 
-      typedef typename pcl::octree::OctreePointCloudSearch<PointInT> OctreeSearchIn;
+      typedef pcl::octree::OctreePointCloudSearch<PointInT> OctreeSearchIn;
       typedef typename OctreeSearchIn::Ptr OctreeSearchInPtr;
 
       using Keypoint<PointInT, PointOutT>::name_;
diff --git a/keypoints/include/pcl/keypoints/keypoint.h b/keypoints/include/pcl/keypoints/keypoint.h
index c2f82e9e4bd..cd89e2276aa 100644
--- a/keypoints/include/pcl/keypoints/keypoint.h
+++ b/keypoints/include/pcl/keypoints/keypoint.h
@@ -61,8 +61,8 @@ namespace pcl
       using PCLBase<PointInT>::input_;
 
       typedef PCLBase<PointInT> BaseClass;
-      typedef typename pcl::search::Search<PointInT> KdTree;
-      typedef typename pcl::search::Search<PointInT>::Ptr KdTreePtr;
+      typedef pcl::search::Search<PointInT> KdTree;
+      typedef typename KdTree::Ptr KdTreePtr;
       typedef pcl::PointCloud<PointInT> PointCloudIn;
       typedef typename PointCloudIn::Ptr PointCloudInPtr;
       typedef typename PointCloudIn::ConstPtr PointCloudInConstPtr;
diff --git a/keypoints/include/pcl/keypoints/susan.h b/keypoints/include/pcl/keypoints/susan.h
index bd95e4ad38b..e47f09ebc86 100644
--- a/keypoints/include/pcl/keypoints/susan.h
+++ b/keypoints/include/pcl/keypoints/susan.h
@@ -64,7 +64,7 @@ namespace pcl
       typedef typename Keypoint<PointInT, PointOutT>::KdTree KdTree;
       typedef typename PointCloudIn::ConstPtr PointCloudInConstPtr;
 
-      typedef typename pcl::PointCloud<NormalT> PointCloudN;
+      typedef pcl::PointCloud<NormalT> PointCloudN;
       typedef typename PointCloudN::Ptr PointCloudNPtr;
       typedef typename PointCloudN::ConstPtr PointCloudNConstPtr;
 
diff --git a/keypoints/include/pcl/keypoints/trajkovic_3d.h b/keypoints/include/pcl/keypoints/trajkovic_3d.h
index 5ae9cdcdf33..8d31bdebf2c 100644
--- a/keypoints/include/pcl/keypoints/trajkovic_3d.h
+++ b/keypoints/include/pcl/keypoints/trajkovic_3d.h
@@ -59,7 +59,7 @@ namespace pcl
       typedef typename Keypoint<PointInT, PointOutT>::PointCloudIn PointCloudIn;
       typedef typename Keypoint<PointInT, PointOutT>::PointCloudOut PointCloudOut;
       typedef typename PointCloudIn::ConstPtr PointCloudInConstPtr;
-      typedef typename pcl::PointCloud<NormalT> Normals;
+      typedef pcl::PointCloud<NormalT> Normals;
       typedef typename Normals::Ptr NormalsPtr;
       typedef typename Normals::ConstPtr NormalsConstPtr;