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To convert PCLPointCloud2::Ptr to PointCloud<pcl::pointxyz> , you have to use the function "fromPCLPointCloud2".

For example :

pcl::PCLPointCloud2::Ptr cloud_filtered (new pcl::PCLPointCloud2 ());
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_filtered1 (new pcl::PointCloud<pcl::PointXYZ>()); 

pcl::fromPCLPointCloud2(*(cloud_filtered), *(cloud_filtered1));

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