diff --git a/robotpy_build/autowrap/context.py b/robotpy_build/autowrap/context.py
index 63f13c87..c42079fc 100644
--- a/robotpy_build/autowrap/context.py
+++ b/robotpy_build/autowrap/context.py
@@ -287,6 +287,12 @@ class BaseClassData:
     Render data for each base that a class inherits
     """
 
+    #: Just the class name
+    cls_name: str
+
+    #: This ends with ::
+    namespace_: str
+
     #: C++ name, including all known components
     full_cpp_name: str  # was x_qualname
 
diff --git a/robotpy_build/autowrap/cxxparser.py b/robotpy_build/autowrap/cxxparser.py
index ad27ca4c..3603a797 100644
--- a/robotpy_build/autowrap/cxxparser.py
+++ b/robotpy_build/autowrap/cxxparser.py
@@ -191,7 +191,9 @@ def _count_and_unwrap(
             assert False
 
 
-def _fmt_base_name(typename: PQName) -> typing.Tuple[str, str, str, typing.List[str]]:
+def _fmt_base_name(
+    typename: PQName,
+) -> typing.Tuple[str, str, str, str, str, typing.List[str]]:
     all_parts = []
     nameonly_parts = []
 
@@ -209,18 +211,22 @@ def _fmt_base_name(typename: PQName) -> typing.Tuple[str, str, str, typing.List[
 
     if last_segment.specialization:
         most_parts = all_parts[:-1]
+        ns_parts = all_parts[:-1]
         all_parts.append(last_segment.format())
         most_parts.append(last_segment.name)
         tparam_list = [arg.format() for arg in last_segment.specialization.args]
     else:
+        ns_parts = all_parts[:]
         all_parts.append(last_segment.name)
         most_parts = all_parts
         tparam_list = []
 
     return (
+        last_segment.name,
         "::".join(most_parts),
         "::".join(all_parts),
         "::".join(nameonly_parts),
+        "::".join(ns_parts),
         tparam_list,
     )
 
@@ -287,7 +293,6 @@ class ClassStateData(typing.NamedTuple):
     defer_protected_fields: typing.List[Field]
 
     # Needed for trampoline
-    cls_cpp_identifier: str
     template_argument_list: str
     base_template_params: str
     base_template_args: str
@@ -751,7 +756,6 @@ def on_class_start(self, state: AWClassBlockState) -> typing.Optional[bool]:
             defer_private_virtual_methods=[],
             defer_protected_fields=[],
             # Trampoline data
-            cls_cpp_identifier=cls_cpp_identifier,
             template_argument_list=template_argument_list,
             base_template_args=base_template_args_s,
             base_template_params=base_template_params_s,
@@ -824,15 +828,20 @@ def _process_class_bases(
             if base.access == "private":
                 continue
 
-            cpp_name, cpp_name_w_templates, dep_cpp_name, tparam_list = _fmt_base_name(
-                base.typename
-            )
+            (
+                cpp_name,
+                full_cpp_name,
+                cpp_name_w_templates,
+                dep_cpp_name,
+                base_ns,
+                tparam_list,
+            ) = _fmt_base_name(base.typename)
             if ignored_bases.pop(cpp_name_w_templates, None):
                 continue
 
             # Sometimes, we can't guess all the information about the base, so the
             # user needs to specify it explicitly.
-            user_bqual = class_data.base_qualnames.get(cpp_name)
+            user_bqual = class_data.base_qualnames.get(full_cpp_name)
             if user_bqual:
                 cpp_name_w_templates = user_bqual
                 # TODO: sometimes need to add this to pybase_params, but
@@ -840,12 +849,17 @@ def _process_class_bases(
                 # obscure, going to omit it for now.
                 tp = user_bqual.find("<")
                 if tp == -1:
-                    cpp_name = user_bqual
+                    full_cpp_name = user_bqual
                     template_params = ""
                 else:
-                    cpp_name = user_bqual[:tp]
+                    full_cpp_name = user_bqual[:tp]
                     template_params = user_bqual[tp + 1 : -1]
-                dep_cpp_name = cpp_name
+                dep_cpp_name = full_cpp_name
+                ns_idx = full_cpp_name.rfind("::")
+                if ns_idx == -1:
+                    base_ns = ""
+                else:
+                    base_ns = full_cpp_name[:ns_idx]
             else:
                 # TODO: we don't handle nested child classes with templates here
                 #       ... but that has to be rather obscure?
@@ -858,15 +872,21 @@ def _process_class_bases(
                 # If no explicit namespace specified, we assume base classes
                 # live in the same namespace as the class
                 if len(base.typename.segments) == 1:
-                    cpp_name = f"{cls_namespace}::{cpp_name}"
+                    base_ns = cls_namespace
+                    full_cpp_name = f"{cls_namespace}::{full_cpp_name}"
                     cpp_name_w_templates = f"{cls_namespace}::{cpp_name_w_templates}"
                     dep_cpp_name = f"{cls_namespace}::{dep_cpp_name}"
 
-            base_identifier = cpp_name.translate(_qualname_trans)
+            base_identifier = full_cpp_name.translate(_qualname_trans)
+
+            if base_ns:
+                base_ns = f"{base_ns}::"
 
             bases.append(
                 BaseClassData(
-                    full_cpp_name=cpp_name,
+                    cls_name=cpp_name,
+                    namespace_=base_ns,
+                    full_cpp_name=full_cpp_name,
                     full_cpp_name_w_templates=cpp_name_w_templates,
                     full_cpp_name_identifier=base_identifier,
                     dep_cpp_name=dep_cpp_name,
@@ -1242,8 +1262,8 @@ def on_class_end(self, state: AWClassBlockState) -> None:
             if cdata.template_argument_list:
                 tmpl = f", {cdata.template_argument_list}"
 
-            trampoline_cfg = f"rpygen::PyTrampolineCfg_{cdata.cls_cpp_identifier}<{cdata.template_argument_list}>"
-            tname = f"rpygen::PyTrampoline_{cdata.cls_cpp_identifier}<typename {ctx.full_cpp_name}{tmpl}, typename {trampoline_cfg}>"
+            trampoline_cfg = f"{ctx.namespace}::PyTrampolineCfg_{ctx.cpp_name}<{cdata.template_argument_list}>"
+            tname = f"{ctx.namespace}::PyTrampoline_{ctx.cpp_name}<typename {ctx.full_cpp_name}{tmpl}, typename {trampoline_cfg}>"
             tvar = f"{ctx.cpp_name}_Trampoline"
 
             ctx.trampoline = TrampolineData(
diff --git a/robotpy_build/autowrap/render_cls_rpy_include.py b/robotpy_build/autowrap/render_cls_rpy_include.py
index 57e15716..b6694684 100644
--- a/robotpy_build/autowrap/render_cls_rpy_include.py
+++ b/robotpy_build/autowrap/render_cls_rpy_include.py
@@ -101,10 +101,8 @@ def _render_cls_trampoline(
         for base in cls.bases:
             r.writeln(f"#include <rpygen/{ base.full_cpp_name_identifier }.hpp>")
 
-    r.writeln("\nnamespace rpygen {")
-
     if cls.namespace:
-        r.writeln(f"\nusing namespace {cls.namespace};")
+        r.writeln(f"\nnamespace {cls.namespace.strip('::')} {{")
 
     if hctx.using_declarations:
         r.writeln()
@@ -122,16 +120,16 @@ def _render_cls_trampoline(
     #
 
     r.writeln(
-        f"\ntemplate <{postcomma(template_parameter_list)}typename CfgBase = EmptyTrampolineCfg>"
+        f"\ntemplate <{postcomma(template_parameter_list)}typename CfgBase = rpygen::EmptyTrampolineCfg>"
     )
 
     if cls.bases:
-        r.writeln(f"struct PyTrampolineCfg_{cls.full_cpp_name_identifier} :")
+        r.writeln(f"struct PyTrampolineCfg_{cls.cpp_name} :")
 
         with r.indent():
             for base in cls.bases:
                 r.writeln(
-                    f"PyTrampolineCfg_{base.full_cpp_name_identifier}<{postcomma(base.template_params)}"
+                    f"{base.namespace_}PyTrampolineCfg_{base.cls_name}<{postcomma(base.template_params)}"
                 )
 
             r.writeln("CfgBase")
@@ -139,7 +137,7 @@ def _render_cls_trampoline(
             for base in cls.bases:
                 r.writeln(">")
     else:
-        r.writeln(f"struct PyTrampolineCfg_{cls.full_cpp_name_identifier} : CfgBase")
+        r.writeln(f"struct PyTrampolineCfg_{cls.cpp_name} : CfgBase")
 
     r.writeln("{")
 
@@ -164,11 +162,11 @@ def _render_cls_trampoline(
         r.writeln(
             f"template <typename PyTrampolineBase{precomma(template_parameter_list)}, typename PyTrampolineCfg>"
         )
-        r.writeln(f"using PyTrampolineBase_{cls.full_cpp_name_identifier} =")
+        r.writeln(f"using PyTrampolineBase_{cls.cpp_name} =")
 
         for base in cls.bases:
             r.rel_indent(2)
-            r.writeln(f"PyTrampoline_{base.full_cpp_name_identifier}<")
+            r.writeln(f"{base.namespace_}PyTrampoline_{base.cls_name}<")
 
         with r.indent():
             r.writeln("PyTrampolineBase")
@@ -184,8 +182,8 @@ def _render_cls_trampoline(
             ;
 
             template <typename PyTrampolineBase{ precomma(template_parameter_list) }, typename PyTrampolineCfg>
-            struct PyTrampoline_{ cls.full_cpp_name_identifier } : PyTrampolineBase_{ cls.full_cpp_name_identifier }<PyTrampolineBase{ precomma(template_argument_list) }, PyTrampolineCfg> {{
-              using PyTrampolineBase_{ cls.full_cpp_name_identifier }<PyTrampolineBase{ precomma(template_argument_list) }, PyTrampolineCfg>::PyTrampolineBase_{ cls.full_cpp_name_identifier };
+            struct PyTrampoline_{ cls.cpp_name } : PyTrampolineBase_{ cls.cpp_name }<PyTrampolineBase{ precomma(template_argument_list) }, PyTrampolineCfg> {{
+              using PyTrampolineBase_{ cls.cpp_name }<PyTrampolineBase{ precomma(template_argument_list) }, PyTrampolineCfg>::PyTrampolineBase_{ cls.cpp_name };
         """
         )
 
@@ -194,7 +192,7 @@ def _render_cls_trampoline(
         r.write_trim(
             f"""
             template <typename PyTrampolineBase{ precomma(template_parameter_list) }, typename PyTrampolineCfg>
-            struct PyTrampoline_{ cls.full_cpp_name_identifier } : PyTrampolineBase {{
+            struct PyTrampoline_{ cls.cpp_name } : PyTrampolineBase {{
               using PyTrampolineBase::PyTrampolineBase;
         """
         )
@@ -234,11 +232,11 @@ def _render_cls_trampoline(
             with r.indent():
                 all_decls = ", ".join(p.decl for p in fn.all_params)
                 all_names = ", ".join(p.arg_name for p in fn.all_params)
-                r.writeln(f"PyTrampoline_{cls.full_cpp_name_identifier}({all_decls}) :")
+                r.writeln(f"PyTrampoline_{cls.cpp_name}({all_decls}) :")
 
                 if cls.bases:
                     r.writeln(
-                        f"  PyTrampolineBase_{cls.full_cpp_name_identifier}<PyTrampolineBase{precomma(trampoline.tmpl_args)}, PyTrampolineCfg>({all_names})"
+                        f"  PyTrampolineBase_{cls.cpp_name}<PyTrampolineBase{precomma(trampoline.tmpl_args)}, PyTrampolineCfg>({all_names})"
                     )
                 else:
                     r.writeln(f"  PyTrampolineBase({all_names})")
@@ -284,7 +282,10 @@ def _render_cls_trampoline(
             r.writeln()
             r.write_trim(trampoline.inline_code)
 
-    r.writeln("};\n\n}; // namespace rpygen")
+    r.writeln("};\n\n")
+
+    if cls.namespace:
+        r.writeln(f"}}; // namespace {cls.namespace}")
 
 
 def _render_cls_trampoline_virtual_method(
diff --git a/tests/cpp/pyproject.toml.tmpl b/tests/cpp/pyproject.toml.tmpl
index 5d911165..f22d1a3b 100644
--- a/tests/cpp/pyproject.toml.tmpl
+++ b/tests/cpp/pyproject.toml.tmpl
@@ -61,6 +61,7 @@ generate = [
     { lifetime = "lifetime.h" },
     { nested = "nested.h" },
     { ns_class = "ns_class.h" },
+    { ns_hidden = "ns_hidden.h" },
     { operators = "operators.h" },
     { overloads = "overloads.h" },
     { parameters = "parameters.h" },
diff --git a/tests/cpp/rpytest/ft/include/ns_hidden.h b/tests/cpp/rpytest/ft/include/ns_hidden.h
new file mode 100644
index 00000000..75c8b4f6
--- /dev/null
+++ b/tests/cpp/rpytest/ft/include/ns_hidden.h
@@ -0,0 +1,31 @@
+#pragma once
+
+namespace n {
+    enum class E {
+        Item,
+    };
+};
+
+namespace o {
+    struct O {
+        O() = default;
+        virtual ~O() = default;
+    };
+
+    class AnotherC;
+};
+
+namespace n::h {
+    class C : public o::O {
+    public:
+        // E is resolved here because it's in the parent namespace but our
+        // trampoline was originally in a different namespace and failed
+        virtual E fn() { return E::Item; }
+    };
+};
+
+struct o::AnotherC {
+    AnotherC() = default;
+    virtual ~AnotherC() = default;
+    virtual int fn() { return 1; }
+};