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Check http://wiki.ros.org/hydro/Migration#PCL
sensor_msgs::PointCloud2 and pcl::PCLPontCloud2 are the message-transport forms of pointclouds, in the ROS and PCL variety. They contain the raw data.
pcl::PointCloud<> is the template form of point clouds that allows you to work with individual points in a more sane manner.
fromPCLPointCloud2 and toPCLPointCloud2 are PCL library functions for conversions. ROS has wrappers for those functions in pcl_conversions/pcl_conversions.h that you should use instead. These will call the right combinations of functions to convert between the message and templated format.
If you include pcl_ros/point_cloud.h, you can avoid doing conversions and subscribe/publish directly with the templated form.
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