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You can directly process on the topic, otherwise, it would not make any sense. In the tutorial they are using PCD so that you can do it without a camera.

In the PCL tutorials link you have posted, http://wiki.ros.org/pcl/Tutorials, there is a minimum example on how to do this. You just have to subscribe to:

ros::Subscriber sub = nh.subscribe ("input", 1, cloud_cb); with a callback of type

void cloud_cb (const sensor_msgs::PointCloud2ConstPtr& input)

and that is it. There is even an example on how to process the cloud with a filter.