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Here is the structure of Point cloud data

# This message holds a collection of N-dimensional points, which may
# contain additional information such as normals, intensity, etc. The
# point data is stored as a binary blob, its layout described by the
# contents of the "fields" array.

# The point cloud data may be organized 2d (image-like) or 1d
# (unordered). Point clouds organized as 2d images may be produced by
# camera depth sensors such as stereo or time-of-flight.

# Time of sensor data acquisition, and the coordinate frame ID (for 3d points). 
Header header

# 2D structure of the point cloud. If the cloud is unordered, height is
# 1 and width is the length of the point cloud. 
uint32 height 
uint32 width
# Describes the channels and their layout in the binary data blob.
PointField[] fields

bool    is_bigendian # Is this data bigendian?
uint32  point_step   #Length of a point in bytes 
uint32 row_step     # Length of a row in bytes
uint8[] data         # Actual point data, size is (row_step*height)

bool is_dense        # True if there are no invalid points