How to create the function fromPCL in PCL library with CUDA

I'm trying to use the cuda capabilities in PCL. My goal is to be able to transfer a point cloud into the GPU and perform some cuda operations. The PCL repo has a function called fromPCL(link to the .cu file) that it isn't implemented, but in the source file it has an implementation that it is not 100% correct. I'm trying to compile uncommenting these lines, but I get an error when using the thrust::copy function in line 60:

 thrust::copy (output.points.begin(), output.points.end(), input.points.begin());

The error is below:

/opt/cuda/include/thrust/system/detail/sequential/general_copy.h(91): error: no operator "=" matches these operands
            operand types are: const pcl::PointXYZRGB = value_type
          detected during:
            instantiation of "thrust::detail::disable_if<thrust::system::detail::sequential::general_copy_detail::reference_is_assignable<InputIterator, OutputIterator>::value, void>::type thrust::system::detail::sequential::general_copy_detail::iter_assign(OutputIterator, InputIterator) [with OutputIterator=__gnu_cxx::__normal_iterator<std::__allocator_traits_base::__c_pointer<Eigen::aligned_allocator<pcl::PointXYZRGB>>, std::vector<pcl::PointXYZRGB, Eigen::aligned_allocator<pcl::PointXYZRGB>>>, InputIterator=thrust::detail::normal_iterator<pcl::cuda::PointXYZRGB *>]" 
(112): here
            instantiation of "OutputIterator thrust::system::detail::sequential::general_copy(InputIterator, InputIterator, OutputIterator) [with InputIterator=thrust::detail::normal_iterator<pcl::cuda::PointXYZRGB *>, OutputIterator=__gnu_cxx::__normal_iterator<std::__allocator_traits_base::__c_pointer<Eigen::aligned_allocator<pcl::PointXYZRGB>>, std::vector<pcl::PointXYZRGB, Eigen::aligned_allocator<pcl::PointXYZRGB>>>]" 
/opt/cuda/include/thrust/system/detail/sequential/copy.inl(74): here
            instantiation of "OutputIterator thrust::system::detail::sequential::copy_detail::copy(InputIterator, InputIterator, OutputIterator, thrust::detail::false_type) [with InputIterator=thrust::detail::normal_iterator<pcl::cuda::PointXYZRGB *>, OutputIterator=__gnu_cxx::__normal_iterator<std::__allocator_traits_base::__c_pointer<Eigen::aligned_allocator<pcl::PointXYZRGB>>, std::vector<pcl::PointXYZRGB, Eigen::aligned_allocator<pcl::PointXYZRGB>>>]" 
/opt/cuda/include/thrust/system/detail/sequential/copy.inl(121): here
            instantiation of "OutputIterator thrust::system::detail::sequential::copy(thrust::system::detail::sequential::execution_policy<DerivedPolicy> &, InputIterator, InputIterator, OutputIterator) [with DerivedPolicy=thrust::system::cpp::detail::tag, InputIterator=thrust::detail::normal_iterator<pcl::cuda::PointXYZRGB *>, OutputIterator=__gnu_cxx::__normal_iterator<std::__allocator_traits_base::__c_pointer<Eigen::aligned_allocator<pcl::PointXYZRGB>>, std::vector<pcl::PointXYZRGB, Eigen::aligned_allocator<pcl::PointXYZRGB>>>]" 
/opt/cuda/include/thrust/detail/copy.inl(37): here
            instantiation of "OutputIterator thrust::copy(const thrust::detail::execution_policy_base<System> &, InputIterator, InputIterator, OutputIterator) [with System=thrust::system::cpp::detail::tag, InputIterator=thrust::detail::normal_iterator<pcl::cuda::PointXYZRGB *>, OutputIterator=__gnu_cxx::__normal_iterator<std::__allocator_traits_base::__c_pointer<Eigen::aligned_allocator<pcl::PointXYZRGB>>, std::vector<pcl::PointXYZRGB, Eigen::aligned_allocator<pcl::PointXYZRGB>>>]" 
/opt/cuda/include/thrust/detail/copy.inl(72): here
            instantiation of "OutputIterator thrust::detail::two_system_copy(const thrust::execution_policy<FromSystem> &, const thrust::execution_policy<ToSystem> &, InputIterator, InputIterator, OutputIterator) [with FromSystem=thrust::system::cpp::detail::tag, ToSystem=thrust::system::cpp::detail::tag, InputIterator=thrust::detail::normal_iterator<pcl::cuda::PointXYZRGB *>, OutputIterator=__gnu_cxx::__normal_iterator<std::__allocator_traits_base::__c_pointer<Eigen::aligned_allocator<pcl::PointXYZRGB>>, std::vector<pcl::PointXYZRGB, Eigen::aligned_allocator<pcl::PointXYZRGB>>>]" 
/opt/cuda/include/thrust/detail/copy.inl(110): here
            instantiation of "OutputIterator thrust::copy(InputIterator, InputIterator, OutputIterator) [with InputIterator=thrust::detail::normal_iterator<pcl::cuda::PointXYZRGB *>, OutputIterator=__gnu_cxx::__normal_iterator<std::__allocator_traits_base::__c_pointer<Eigen::aligned_allocator<pcl::PointXYZRGB>>, std::vector<pcl::PointXYZRGB, Eigen::aligned_allocator<pcl::PointXYZRGB>>>]" 
/home/Lavy.David/Libraries/pcl-pcl-1.9.0/cuda/io/src/cloud_from_pcl.cu(61): here

1 error detected in the compilation of "/tmp/tmpxft_000049e6_00000000-15_cloud_from_pcl.compute_75.cpp1.ii".
CMake Error at pcl_cuda_io_generated_cloud_from_pcl.cu.o.RelWithDebInfo.cmake:279 (message):
  Error generating file
  /home/Lavy.David/Libraries/pcl-pcl-1.9.0/build_ni/cuda/io/CMakeFiles/pcl_cuda_io.dir/src/./pcl_cuda_io_generated_cloud_from_pcl.cu.o


cuda/io/CMakeFiles/pcl_cuda_io.dir/build.make:3186: recipe for target 'cuda/io/CMakeFiles/pcl_cuda_io.dir/src/pcl_cuda_io_generated_cloud_from_pcl.cu.o' failed
make[2]: *** [cuda/io/CMakeFiles/pcl_cuda_io.dir/src/pcl_cuda_io_generated_cloud_from_pcl.cu.o] Error 1
CMakeFiles/Makefile2:5523: recipe for target 'cuda/io/CMakeFiles/pcl_cuda_io.dir/all' failed
make[1]: *** [cuda/io/CMakeFiles/pcl_cuda_io.dir/all] Error 2
Makefile:162: recipe for target 'all' failed
make: *** [all] Error 2

Trying to debug it, it seems that the output and input types are not matching, as I am comparing a const pcl::PointXYZRGB (seems this is coming from the input variable) with a value_type (seems this is coming from the output variable). This goes a bit more than my C++ and PCL knowledge, but how would I go and cast the output variable to not be value_type?

Thank you in advance