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Here's the code that successfully transforms my sensor_msgs::PointCloud2::ConstPtr to a pcl::PointCloud<pcl::pointxyz>::Ptr

#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
    }

Some of the includes may be unnecessary ....

Warning: pcl_ros has been depreciated.

The Eigen Geometry Module Tutorial no longer exists. Is there an updated version?