diff --git a/common/include/pcl/array_types.h b/common/include/pcl/array_types.h
new file mode 100644
index 00000000000..55d4c207410
--- /dev/null
+++ b/common/include/pcl/array_types.h
@@ -0,0 +1,49 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ *  Point Cloud Library (PCL) - www.pointclouds.org
+ *  Copyright (c) 2025-, Open Perception, Inc.
+ *
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the copyright holder(s) nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *
+ */
+
+#pragma once
+
+#include <Eigen/Core>
+
+namespace pcl
+{
+  using Array3fMap = Eigen::Map<Eigen::Array3f>;
+  using Array3fMapConst = const Eigen::Map<const Eigen::Array3f>;
+  using Array4fMap = Eigen::Map<Eigen::Array4f, Eigen::Aligned>;
+  using Array4fMapConst =
+      const Eigen::Map<const Eigen::Array4f, Eigen::Aligned>;
+} // namespace pcl
diff --git a/common/include/pcl/impl/point_types.hpp b/common/include/pcl/impl/point_types.hpp
index 88ca63a4d1a..a7ea6283551 100644
--- a/common/include/pcl/impl/point_types.hpp
+++ b/common/include/pcl/impl/point_types.hpp
@@ -38,12 +38,14 @@
 
 #pragma once
 
+#include <pcl/array_types.h>            // for pcl::Array* types
 #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/register_point_struct.h>  // for POINT_CLOUD_REGISTER_POINT_STRUCT, POINT_CLOUD_REGISTER_POINT_WRAPPER
+#include <pcl/vector_types.h>           // for pcl::Vector* types
 
 #include <boost/mpl/and.hpp>            // for boost::mpl::and_
 #include <boost/mpl/bool.hpp>           // for boost::mpl::bool_
@@ -184,29 +186,10 @@ namespace pcl
       template<> struct descriptorSize<Narf36> { static constexpr const int value = 36; };
       template<int N> struct descriptorSize<Histogram<N>> { static constexpr const int value = N; };
 
-
       template<typename FeaturePointT>
       static constexpr int descriptorSize_v = descriptorSize<FeaturePointT>::value;
     }
   }
-  
-  using Vector2fMap = Eigen::Map<Eigen::Vector2f>;
-  using Vector2fMapConst = const Eigen::Map<const Eigen::Vector2f>;
-  using Array3fMap = Eigen::Map<Eigen::Array3f>;
-  using Array3fMapConst = const Eigen::Map<const Eigen::Array3f>;
-  using Array4fMap = Eigen::Map<Eigen::Array4f, Eigen::Aligned>;
-  using Array4fMapConst = const Eigen::Map<const Eigen::Array4f, Eigen::Aligned>;
-  using Vector3fMap = Eigen::Map<Eigen::Vector3f>;
-  using Vector3fMapConst = const Eigen::Map<const Eigen::Vector3f>;
-  using Vector4fMap = Eigen::Map<Eigen::Vector4f, Eigen::Aligned>;
-  using Vector4fMapConst = const Eigen::Map<const Eigen::Vector4f, Eigen::Aligned>;
-
-  using Vector3c = Eigen::Matrix<std::uint8_t, 3, 1>;
-  using Vector3cMap = Eigen::Map<Vector3c>;
-  using Vector3cMapConst = const Eigen::Map<const Vector3c>;
-  using Vector4c = Eigen::Matrix<std::uint8_t, 4, 1>;
-  using Vector4cMap = Eigen::Map<Vector4c, Eigen::Aligned>;
-  using Vector4cMapConst = const Eigen::Map<const Vector4c, Eigen::Aligned>;
 
 #define PCL_ADD_UNION_POINT4D \
   union EIGEN_ALIGN16 { \
diff --git a/common/include/pcl/vector_types.h b/common/include/pcl/vector_types.h
new file mode 100644
index 00000000000..b966e3a4317
--- /dev/null
+++ b/common/include/pcl/vector_types.h
@@ -0,0 +1,58 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ *  Point Cloud Library (PCL) - www.pointclouds.org
+ *  Copyright (c) 2025-, Open Perception, Inc.
+ *
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the copyright holder(s) nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *
+ */
+
+#pragma once
+
+#include <Eigen/Core>
+
+namespace pcl
+{
+  using Vector2fMap = Eigen::Map<Eigen::Vector2f>;
+  using Vector2fMapConst = const Eigen::Map<const Eigen::Vector2f>;
+  using Vector3fMap = Eigen::Map<Eigen::Vector3f>;
+  using Vector3fMapConst = const Eigen::Map<const Eigen::Vector3f>;
+  using Vector4fMap = Eigen::Map<Eigen::Vector4f, Eigen::Aligned>;
+  using Vector4fMapConst =
+      const Eigen::Map<const Eigen::Vector4f, Eigen::Aligned>;
+
+  using Vector3c = Eigen::Matrix<std::uint8_t, 3, 1>;
+  using Vector3cMap = Eigen::Map<Vector3c>;
+  using Vector3cMapConst = const Eigen::Map<const Vector3c>;
+  using Vector4c = Eigen::Matrix<std::uint8_t, 4, 1>;
+  using Vector4cMap = Eigen::Map<Vector4c, Eigen::Aligned>;
+  using Vector4cMapConst = const Eigen::Map<const Vector4c, Eigen::Aligned>;
+} // namespace pcl