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pointCloud2 to pcl::pointcloud conversion

I am using velodyne VLP16. The information I am getting from it is "unordered" pointCloud2. I am having a trouble to translate it to pcl::pointcloud. According to the code provided online [here] (https://github.com/ros-drivers/velodyne/blob/master/velodyne_pointcloud/src/conversions/colors.cc). I can simply get the x,y, and z value of the point from pointCloud2 by using a pcl function without giving the function any information regarding the sensor I am using(layer no. etc). Why is this the case?