pcd_to_pointcloud ignores the viewpoint field

[Hugal31]

pcd_to_pointcloud ignores the VIEWPOINT field, and publish the pointcloud untransformed.

This puzzled me when I did pointcloud registration using CloudCompare and then export to PCD, which save the pointcloud transformation in the VIEWPOINT field.

The attached file is meant to be a vertical square centered at Y=-1, but is published as a horizontal square centered at the origin.

Wall.pcd.gz