Better way of converting sensor_msgs::PointCloud2 to PointCloud<PointXYZRGB>

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Hi, I am receiving sensor_msgs::PointCloud2 inside a callback function. I am converting it to PointCloud<PointXYZRGB> using following procedure-

1. First convert sensor_msgs::PointCloud2 to pcl::PCLPointCloud2
2. Later convert pcl::PCLPointCloud2 to pcl::PointCloud<pcl::PointXYZRGBA>
3. Finally convert pcl::PointCloud<pcl::PointXYZRGBA> to pcl::PointCloud<pcl::PointXYZRGB>

See below the code snippet-

inline void PointCloudXYZRGBAtoXYZRGB(pcl::PointCloud<pcl::PointXYZRGBA>& in, pcl::PointCloud<pcl::PointXYZRGB>& out)
{
  out.width   = in.width;
  out.height  = in.height;
  out.points.resize(in.points.size());
  for (size_t i = 0; i < in.points.size (); i++)
  {
    out.points[i].x = in.points[i].x;
    out.points[i].y = in.points[i].y;
    out.points[i].z = in.points[i].z;
    out.points[i].r = in.points[i].r;
    out.points[i].g = in.points[i].g;
    out.points[i].b = in.points[i].b;
  }
}

void pointCloudCallback(const sensor_msgs::PointCloud2ConstPtr& pc_msg)
{
  pcl::PCLPointCloud2 pcl_pc2;
  pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
  pcl::PointCloud<pcl::PointXYZRGBA> temp_cloud;
  pcl_conversions::toPCL(*msg, pcl_pc2);
  pcl::fromPCLPointCloud2(pcl_pc2, temp_cloud);
  PointCloudXYZRGBAtoXYZRGB(temp_cloud, *cloud);
}

I am wondering if there exists better way which is efficient in terms of time taken. Kindly suggest.