Convert ros odometery orientation to pcl?

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What i am doing is that i am trying to convert the odometry messages to pcl but i am unable to find a solution for conversion of orientation

void odomCallback (const nav_msgs::OdometryConstPtr& odomMsg) {

        double odomX = odomMsg->pose.pose.position.x;
        double odomY = odomMsg->pose.pose.position.y;
        double odomZ = odomMsg->pose.pose.position.z;

////////// double odomangle = tf::getYaw(odomMsg->pose.pose.orientation); covert this to pcl

        tf::TransformListener listener;
        tf::Stamped<tf::Point> mapPoint;
        listener.waitForTransform (MAP_FRAME, WORLD_FRAME, ros::Time (0), ros::Duration (0.5));
        tf::Stamped<tf::Point> odomPoint (tf::Point (odomX, odomY, odomZ), ros::Time (0), WORLD_FRAME);
        listener.transformPoint (MAP_FRAME, ros::Time (0), odomPoint, WORLD_FRAME, mapPoint);

    }

What i was able to do was converting the position of robot but i want the orientation as well.