Potential density
Potential density is a dynamically important property: for static stability potential density must decrease upward. If it doesn't, a fluid parcel displaced upward finds itself lighter than its neighbors, and continues to move upward; similarly, a fluid parcel displaced downward would be heavier than its neighbors. This is true even if the density of the fluid decreases upward. In stable conditions (potential density decreasing upward) motion along surfaces of constant potential density (isopycnals) is energetically favored over flow across these surfaces (diapycnal flow), so most of the motion within a 3-D geophysical fluid takes place along these 2-D surfaces.
Relative density
Another practical method uses three measurements. The sample is weighed dry. Then a container filled to the brim with water is weighed, and weighed again with the sample immersed, after the displaced water has overflowed and been removed. Subtracting the last reading from the sum of the first two readings gives the weight of the displaced water. The relative density result is the dry sample weight divided by that of the displaced water. This method works with scales that can't easily accommodate a suspended sample, and also allows for measurement of samples that are less dense than water.