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From the documentation on the sensor_msgs::PointCloud2 type, the 'data' member contains the actual data of the point cloud message, and the type is determined dynamically by reading the 'fields' member.

I suggest you determine what sort of data you're hoping to extract from your input point clouds, and use pcl::fromROSMsg() to convert your ros message into a pcl point cloud, at which point you can use the supplied iterators to iterate over your point cloud.