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I found the solution: I was declaring my point cloud as

namespace velodyne {
struct PointType : pcl::PointXYZRGB { ... };
struct PointCloud : pcl::PointCloud<PointType> { ... };
}

but if I use a typedef instead then my compilation error disappears:

namespace velodyne {
struct PointType : pcl::PointXYZRGB { ... };
typedef PointCloud<PointType> PointCloud;
}

I found the solution: I was declaring my point cloud as

namespace velodyne {
struct PointType : pcl::PointXYZRGB { ... };
struct PointCloud : pcl::PointCloud<PointType> { ... };
}

but if I use a typedef instead then my compilation error disappears:

namespace velodyne {
struct PointType : pcl::PointXYZRGB { ... };
typedef PointCloud<PointType> PointCloud;
}

EDIT: Actually, I am now declaring my point type following PCL's model: it does not inherit from pcl::PointXYZRGB but rather copies the body of pcl::PointXYZRGB. In the end it looks as follows:

namespace velodyne
{
struct EIGEN_ALIGN16 _PointType
{
  PCL_ADD_POINT4D;
  PCL_ADD_RGB;
  ...
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};

struct EIGEN_ALIGN16 PointType : public _PointType
{
  inline PointType () {  ... }
}

} // namespace velodyne

POINT_CLOUD_REGISTER_POINT_STRUCT (velodyne::_PointType,
    (float, x, x)
    (float, y, y)
    (float, z, z)
    (uint32_t, rgb, rgb)
    ...
)
POINT_CLOUD_REGISTER_POINT_WRAPPER(velodyne::PointType, velodyne::_PointType)

namespace velodyne {    
typedef pcl::PointCloud<PointType> PointCloud;
typedef boost::shared_ptr<PointCloud> PointCloudPtr;
typedef boost::shared_ptr<PointCloud const> PointCloudConstPtr;
} // namespace velodyne