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Yes it is the same object as in PCL, so the same APIs will work. pcl::Poincloud has a copy constructor that you can use to make the copy (pcl::Poincloud copy = pcl::PointCloud(*cloud_msg_const_ptr))

Addendum, the message you receive is const, so you can feel safe using the received cloud directly without copying, as long as you don't need/try to modify it.

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