I was trying to publish point cloud and marker arrow same time from a ros node by using below code. When i try to see them both in rviz display i can see them both arrow is coming but when i put /output in the pointcloud2 display, it shows error. when i run rostopic echo output i can see the values, but inside rviz it shows error.

ros::Publisher pub;
ros::Publisher arrow_pub;
void
cloud_cb (const sensor_msgs::PointCloud2ConstPtr& input)
{

// ** conversion of ros message to pcl
pcl::PointCloud<pcl::PointXYZRGB> output;
pcl::fromROSMsg(*input,output);

int h = 480;
int w = 640;
pcl::PointXYZRGB p[w][h];

for(int i=0;i<=w;i++)
{
  for(int j=0;j<=h;j++)
    {
      p[i][j] = output.at(i,j);
    }
 }

visualization_msgs::Marker arrow;

arrow.header.frame_id = "/camera_depth_frame";
arrow.header.stamp = ros::Time::now();

arrow.ns = "example";
arrow.id = 1;

arrow.type = visualization_msgs::Marker::ARROW;
arrow.action = visualization_msgs::Marker::ADD;

arrow.pose.position.x = p[55][55].x;
arrow.pose.position.y = p[55][55].y;
arrow.pose.position.z = p[55][55].z;

arrow.pose.orientation.x = 45;
arrow.pose.orientation.y = 0.0;
arrow.pose.orientation.z = 45;
arrow.pose.orientation.w = 1.0;

arrow.scale.x= 5;
arrow.scale.y= 0.1;
arrow.scale.z = 0.1;

arrow.color.g = 0.0f;
arrow.color.a = 1.0;
arrow.color.r = 0.0f;
arrow.color.b = 1.0f;

arrow.lifetime = ros::Duration();


// ** conversion of pcl messag to ros
sensor_msgs::PointCloud2 cloud;
pcl::toROSMsg(output,cloud);

pub.publish(cloud);
arrow_pub.publish(arrow);
}


int
main(int argc, char** argv)
{
    ros::init(argc, argv,"my_pcl_tutorial");
    ros::NodeHandle nh;
    ros::Subscriber sub = nh.subscribe("input",1,cloud_cb);
    pub = nh.advertise<sensor_msgs::PointCloud2> ("output",1);
    arrow_pub = nh.advertise<visualization_msgs::Marker> ("out",1);
    ros::spin();
}

What is the problem am i doing something wrong relate to tf.