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just to expand on @Paulbovbel 's answer

If you want to continue with processing shared_ptrs maybe the makeShared() method helps you. Creates a deep copy of the cloud and returns you a shared_ptr to the copied cloud, see:

http://docs.pointclouds.org/trunk/classpcl_1_1_point_cloud.html#a7b01fdbe1dba1e640bbabc0295021e75

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