Merge pull request #1813 from Chungzuwalla/issue1802

Fixed bug incorrectly copying adjacent points in fromPCLPointCloud2()

common/include/pcl/conversions.h

@@ -180,11 +180,14 @@ namespace pcl
     cloud.points.resize (num_points);
     uint8_t* cloud_data = reinterpret_cast<uint8_t*>(&cloud.points[0]);
 
-    // Check if we can copy adjacent points in a single memcpy
+    // Check if we can copy adjacent points in a single memcpy.  We can do so if there
+    // is exactly one field to copy and it is the same size as the source and destination
+    // point types.
     if (field_map.size() == 1 &&
         field_map[0].serialized_offset == 0 &&
         field_map[0].struct_offset == 0 &&
-        msg.point_step == sizeof(PointT))
+        field_map[0].size == msg.point_step &&
+        field_map[0].size == sizeof(PointT))
     {
       uint32_t cloud_row_step = static_cast<uint32_t> (sizeof (PointT) * cloud.width);
       const uint8_t* msg_data = &msg.data[0];