Convert Caffe Blob to ROS sensor_msgs

[MSCderoe]

Hi Guys,

I'm quite new to Caffe and I want to get a 3D Point Cloud from ROS / PCL as input for a 3D CNN.
My question is how i can transform the sensor_msgs I get from ROS in a way that it would fit as input data for the Caffe Blob.
Also the other direction is important when I have to send the output data back to ROS.
Is there already an exisiting method for this conversation or how can I realise it?

Thanks for answers
MSCderoe