Organized cloud can be loaded from ASCII but not from binary

[eudoxos]

I am getting assertion error here:

/usr/local/lib/python3.6/dist-packages/pypcd-0.1.1-py3.6.egg/pypcd/pypcd.py in check_sanity(self)
    621         md = self.get_metadata()
    622         assert(_metadata_is_consistent(md))
--> 623         assert(len(self.pc_data) == self.points)
    624         assert(self.width*self.height == self.points)
    625         assert(len(self.fields) == len(self.count))

AssertionError: 

when loading an organized cloud from binary, but loads fine the very same cloud saved as ASCII. I can later provide a sample input files, but those I have at the moment are too big (45M for binary).

[eudoxos]

Here is a minimal cloud (10x22) showing the issue - ASCII opens flawlessly, height and width are correctly reported, while binary (both with and without compression) fail as shown above.

organized-10x22.zip

[eudoxos]

FWIW code how the cloud was created:

#include<pcl/point_types.h>
#include<pcl/point_cloud.h>
#include<pcl/io/pcd_io.h>
#include<pcl/io/ply_io.h>

#include<string>
int main(int argc, char** argv){
	int rows=10,cols=22;
	pcl::PointCloud<pcl::PointXYZI> cl;
	// PointCloud::operator(column,row){ return (points[row * this->width + column]); }
	cl.width=cols;
	cl.height=rows;
	cl.resize(cols*rows);
	cl.is_dense=false;
	assert(cl.isOrganized());
	for(int r=0; r<rows; r++){
		for(int c=0; c<cols; c++){
			cl(c,r).x=c;
			cl(c,r).y=r;
			cl(c,r).z=c;
			cl(c,r).intensity=r;
		}
	}
	std::string out("organized_height=rows="+std::to_string(rows)+"_width=cols="+std::to_string(cols));
	pcl::io::savePCDFileBinaryCompressed(out+"_bin-compressed.pcd",cl);
	pcl::io::savePCDFileBinaryCompressed(out+"_bin.pcd",cl);
	pcl::io::savePCDFileASCII(out+"_ascii.pcd",cl);
	pcl::io::savePLYFileBinary(out+"_bin.ply",cl);
	return 0;
}