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So you wonna use sensor_msgs::PointCloud2 (not sensor_msgs::PointCloud as it is deprecated) if you are passing messages between nodes in ROS (e.g. between kinect driver node and your pointcloud processing node). Once your pointcloud node receives the sensor_msgs::PointCloud2 msg you use pcl::fromROSMsg function to convert it to pcl::PointCloud<pointt> (note that it has to be templated) and that can then be used as input to all pcl algorithms. D.