PCL Own Point Type can't use pcl functions and operators

Question

#define PCL_NO_PRECOMPILE
#include <pcl/pcl_macros.h>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <Eigen/Geometry> 
#include <Eigen/Dense>
#include <Eigen/Core>

namespace pcl{

struct PointXYZIR
  {
    PCL_ADD_POINT4D;                    // Macro quad-word XYZ
    float intensity;                    // Laser intensity
    uint16_t ring;                      // Laser ring number
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW     // Ensure proper alignment
  } EIGEN_ALIGN16;
}

POINT_CLOUD_REGISTER_POINT_STRUCT(PointXYZIR,
                                  (float, x, x)
                                  (float, y, y)
                                  (float, z, z)
                                  (float, intensity, intensity)
                                  (uint16_t, ring, ring)
)

typedef pcl::PointCloud<pcl::PointXYZIR>::Ptr    pcXYZIRPtr;
typedef pcl::PointCloud<pcl::PointXYZIR>         pcXYZIR;

And then this Code:

pcXYZIRPtr test1(new pcXYZIR);
pcXYZIRPtr test2(new pcXYZIR);
pcl::PointXYZIR test_p(1.0f,1.0f,1.0f,1.0f,1);

test1->push_back(test_p);
test2->push_back(test_p);

test1 += test2;

However, this results in these errors:

error: no matching function for call to ‘pcl::PointXYZIR::PointXYZIR(float, float, float, float, int)’

error: no match for ‘operator+=’ (operand types are ‘pcXYZIRPtr’ {aka ‘boost::shared_ptr<pcl::PointCloud<pcl::PointXYZIR> >’} and ‘pcXYZIRPtr’ {aka ‘boost::shared_ptr<pcl::PointCloud<pcl::PointXYZIR> >’})
   92 |     test1 += test2;

This means that i can't use my own custom point type like any normal point type, e.g. pcl::PointXYZI.

What do i need to change in order for this to work? I tried without namespace pcl and with, but it does not work in both ways.

Answer 1

So i eventually fixed the first error message with this new code (adapted the name of the new integer variable as well):

#define PCL_NO_PRECOMPILE
#include <pcl/pcl_macros.h>
#include <pcl/point_types.h>

namespace pcl {
struct PointXYZIL
{
  PCL_ADD_POINT4D;                    // preferred way of adding a XYZ+padding
  float intensity;
  int label;
  PointXYZIL(float x, float y, float z, float intensity, int label) : x(x), y(y), z(z), intensity(intensity), label(label) {}
  PointXYZIL() : x(0.0), y(0.0), z(0.0), intensity(0.0), label(0) {}
  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 (pcl::PointXYZIL,
                                   (float, x, x)
                                   (float, y, y)
                                   (float, z, z)
                                   (float, intensity, intensity)
                                   (int, label, label)
)

For the second error message i adopted the answer by @sehe.