pcl::VoxelGrid＜pcl::PointXYZRGB＞::Ptr’ is protected within this context pcl::VoxelGrid＜PointT＞

/home/sun/slam/YOLO_ORB_SLAM3_Dense/include/PointCloudMapper.h:41:29: error:
 ‘typedef class boost::shared_ptr<pcl::VoxelGrid<pcl::PointXYZRGB> >
 pcl::VoxelGrid<pcl::PointXYZRGB>::Ptr’ is protected within this context
     pcl::VoxelGrid<PointT>::Ptr mpVoxel;

PointCloudMapper.h原代码：

//

//

#ifndef ORB_SLAM3_POINTCLOUDMAPPER_H
#define ORB_SLAM3_POINTCLOUDMAPPER_H
#include <iostream>
#include <fstream>
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <Eigen/Geometry>
#include <boost/format.hpp>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/filters/voxel_grid.h>
#include "KeyFrame.h"
#include <pcl/common/transforms.h>

using namespace ORB_SLAM3;
using namespace std;

typedef pcl::PointXYZRGB PointT;
typedef pcl::PointCloud<PointT> PointCloud;

class PointCloudMapper
{
public:
    PointCloudMapper();

    void InsertKeyFrame(KeyFrame* kf, cv::Mat& imRGB, cv::Mat& imDepth);

    PointCloud::Ptr GeneratePointCloud(KeyFrame* kf, cv::Mat& imRGB, cv::Mat& imDepth);

    void run();

    queue<KeyFrame*> mqKeyFrame;
    queue<cv::Mat> mqRGB;
    queue<cv::Mat> mqDepth;

    pcl::VoxelGrid<PointT>::Ptr mpVoxel;
    std::mutex mmLoadKFMutex;
    PointCloud::Ptr mpGlobalMap;
    int mKeyFrameSize;


};

#endif //ORB_SLAM3_POINTCLOUDMAPPER_H

改为：

//

//

#ifndef ORB_SLAM3_POINTCLOUDMAPPER_H
#define ORB_SLAM3_POINTCLOUDMAPPER_H
#include <iostream>
#include <fstream>
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <Eigen/Geometry>
#include <boost/format.hpp>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/filters/voxel_grid.h>
#include "KeyFrame.h"
#include <pcl/common/transforms.h>
#include <memory> 
#include <mutex>   // For std::mutex
#include <queue>   // For std::queue
using namespace ORB_SLAM3;
using namespace std;

typedef pcl::PointXYZRGB PointT;
typedef pcl::PointCloud<PointT> PointCloud;

class PointCloudMapper
{
public:
    PointCloudMapper();

    void InsertKeyFrame(KeyFrame* kf, cv::Mat& imRGB, cv::Mat& imDepth);

    PointCloud::Ptr GeneratePointCloud(KeyFrame* kf, cv::Mat& imRGB, cv::Mat& imDepth);

    void run();

    queue<KeyFrame*> mqKeyFrame;
    queue<cv::Mat> mqRGB;
    queue<cv::Mat> mqDepth;

    std::shared_ptr<pcl::VoxelGrid<PointT>> mpVoxel;
    //pcl::VoxelGrid<PointT>::Ptr mpVoxel;
    std::mutex mmLoadKFMutex;
    PointCloud::Ptr mpGlobalMap;
    int mKeyFrameSize;


};

#endif //ORB_SLAM3_POINTCLOUDMAPPER_H