#include <pcl_conversions/pcl_conversions.h>

#include <pcl/point_types.h>

#include <pcl/PCLPointCloud2.h>

#include <pcl/conversions.h>

#include <pcl_ros/transforms.h>

 void cloud_cb(const boost::shared_ptr<const sensor_msgs::PointCloud2>& input){

    pcl::PCLPointCloud2 pcl_pc2;

    pcl_conversions::toPCL(*input,pcl_pc2);

    pcl::PointCloud<pcl::PointXYZ>::Ptr temp_cloud(new pcl::PointCloud<pcl::PointXYZ>);

    pcl::fromPCLPointCloud2(pcl_pc2,*temp_cloud);

    //do stuff with temp_cloud here

    }