PCL setInputCloud error

error: no matching function for call to 'pcl::VoxelGrid::setInputCloud(std::shared_ptr >&)'
voxel.setInputCloud(-)

Source code with error

template <typename pointt="">
pcl::PointCloud<pointt> Semantic::filterPCD(std::shared_ptr<pcl::pointcloud<pointt> > t_input)
{
    std::shared_ptr<pcl::pointcloud<pointt> > filtered(new pcl::PointCloud<pointt>());
    static pcl::VoxelGrid<pointt> voxel;
    voxel.setLeafSize(0.05, 0.05, 0.05);
    voxel.setInputCloud(t_input);
    voxel.filter(*filtered);
    return *filtered;
}

Error Message

error: no matching function for call to 'pcl::VoxelGrid<pcl::pointxyzrgba>::setInputCloud(std::shared_ptr<pcl::pointcloud<pcl::pointxyzrgba> >&)'
     voxel.setInputCloud(t_input);
     ^~~~~
In file included from /usr/include/pcl-1.8/pcl/common/io.h:45:0,
                 from /usr/include/pcl-1.8/pcl/io/file_io.h:42,
                 from /usr/include/pcl-1.8/pcl/io/pcd_io.h:44,
                 from /opt/ros/melodic/include/pcl_conversions/pcl_conversions.h:70,
                 from /opt/ros/melodic/include/pcl_ros/point_cloud.h:9,
                 from /root/catkin_ws/src/SLAM/include/Common.h:35,
                 from /root/catkin_ws/src/SLAM/include/Semantic.h:7,
                 from /root/catkin_ws/src/SLAM/src/Semantic.cpp:1:
/usr/include/pcl-1.8/pcl/pcl_base.h:95:7: note: candidate: void pcl::PCLBase<pointt>::setInputCloud(const PointCloudConstPtr&) [with PointT = pcl::PointXYZRGBA; pcl::PCLBase<pointt>::PointCloudConstPtr = boost::shared_ptr<const pcl::pointcloud<pcl::pointxyzrgba=""> >]
       setInputCloud (const PointCloudConstPtr &cloud);
       ^~~~~~~~~~~~~
/usr/include/pcl-1.8/pcl/pcl_base.h:95:7: note:   no known conversion for argument 1 from 'std::shared_ptr<pcl::pointcloud<pcl::pointxyzrgba> >' to 'const PointCloudConstPtr& {aka const boost::shared_ptr<const pcl::pointcloud<pcl::pointxyzrgba=""> >&}'
SLAM/CMakeFiles/rds_slam.dir/build.make:341: recipe for target 'SLAM/CMakeFiles/rds_slam.dir/src/Semantic.cpp.o' failed
make[2]: *** [SLAM/CMakeFiles/rds_slam.dir/src/Semantic.cpp.o] Error 1
CMakeFiles/Makefile2:3766: recipe for target 'SLAM/CMakeFiles/rds_slam.dir/all' failed

Solution

The error is caused by "std::shared_ptr".

"boost::shared_ptr" is used in PCL rather than std version.

Therefore, the correct version is:

template <typename pointt="">
pcl::PointCloud<pointt> Semantic::filterPCD(boost::shared_ptr<pcl::pointcloud<pointt> > t_input)
{
    boost::shared_ptr<pcl::pointcloud<pointt> > filtered(new pcl::PointCloud<pointt>());
    static pcl::VoxelGrid<pointt> voxel;
    voxel.setLeafSize(0.05, 0.05, 0.05);
    voxel.setInputCloud(t_input);
    voxel.filter(*filtered);
    return *filtered;
}

</pcl::pointcloud