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Datatype to access pointcloud2

Hello all, i am working on pobot object detection project and m totally new at Ros. so far in project we have published pointclouds but can anyone tell me after subscribing to a pointcloud2 message through ros, how to access its data field ( WHERE THE ACTUAL DATA IS STORED) ROS_INFO("I heard Height[%d] Width[%d] point_step[%d] row_step[%d] data[%d] ", msg->height, msg->width, msg->point_step, msg->row_step);

through this i can access height,width but what is the datatype for data field??