Add namespace pcl functions and PointT in header file-CodePudding

I have a header file preprocess.h in the include folder that simply does noise removal from a point cloud. The point type of point cloud does not exist in the pcl library so I have to create a custom point type RadarPoint for pcl::PointCloud<PointT>. Also, it's a good practice to create a namespace for functions inside the header file. The following is my code.

#ifndef PREPROCESS_H
#define PREPROCESS_H

#define PCL_NO_PRECOMPILE
#include <ros/ros.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/pcl_macros.h>
#include <pcl/filters/statistical_outlier_removal.h>


namespace filtration {
    
    struct RadarPoint {
      PCL_ADD_POINT4D;                  // preferred way of adding a XYZ padding
      uint8_t beam_side;
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW    // make sure our new allocators are aligned
    } EIGEN_ALIGN16;                    // enforce SSE padding for correct memory alignment
    
    POINT_CLOUD_REGISTER_POINT_STRUCT (RadarPoint,           // here we add XYZ and beam_side
                                       (float, x, x)
                                       (float, y, y)
                                       (float, z, z)
                                       (uint8_t, beam_side, beam_side)
    )
    
    //remove outliers from point cloud
    pcl::PointCloud<RadarPoint>::Ptr filter(const pcl::PointCloud<RadarPoint>::Ptr& cloud_input);
    
}
    
#endif

However, there are some bugs. For the function, I got the error "namespace filtration::pcl" has no member PointCloud. For the custom PointT, I got the two errors. The first error is namespace "filtration::pcl" has no member "Vector3fMap" for the code PCL_ADD_POINT4D;. The second error is improperly terminated macro invocation for the code POINT_CLOUD_REGISTER_POINT_STRUCT. Any help on why and how to solve them?

CodePudding user response：

POINT_CLOUD_REGISTER_POINT_STRUCT must be used in the global namespace: https://github.com/PointCloudLibrary/pcl/blob/master/common/include/pcl/register_point_struct.h#L63