Cleaning dynamic memory allocation in a call back function.

edit

Hi, My callback function looks like this.

void  cloud_cb (const sensor_msgs::PointCloud2ConstPtr& input_pc)
{
  // Convert the sensor_msgs/PointCloud2 data to pcl/PointCloud - Dataset
  pcl::PointCloud<PointT>::Ptr cloud_in(new pcl::PointCloud<PointT>);
  pcl::fromROSMsg(*input, *cloud_in);
  // pcl::norms
  pcl::PointCloud<pcl::Normal>::Ptr cloud_normals (new pcl::PointCloud<pcl::Normal>);
  ....
  ....
  for(auto searchPoint: filtered_cloud->points)
  {
    pcl::PCA<PointT> local_pca = new pcl::PCA<PointT>;
    pcl::PointIndices::Ptr inliers(new pcl::PointIndices());
    ....
    ....
   delete local_pca;
   delete inliers;
}
publisher(*cloud_normals);
// delete cloud;
// delete cloud_normals;
}

Is it a good practice to de-allocate memory for the variables "cloud" , "cloud_normals" after the end of callback function ?