Thread: Do I need to delete dynamic memory before leaving a function

pcl::PointCloud<pcl::PointXYZRGB>::Ptr is a typedef for boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGB > >. It already is a smart pointer, which means you needn't and must not try to delete it yourself. The object will be automatically deallocated when the (last) shared_ptr to this resource goes out of scope.

Consult the manual: http://docs.pointclouds.org/trunk/classpcl_1_1_point_cloud.html