Hi,

thanks for the great tool you made available for the whole community.

I found an issue during the data import of a log file. In the PointCloud.cpp source the binary read and write are not symmetric, and so the reading fails.
I'm referring in particular at:
https://github.com/OctoMap/octomap/blob/devel/octomap/src/Pointcloud.cpp#L287
and
https://github.com/OctoMap/octomap/blob/devel/octomap/src/Pointcloud.cpp#L313

where an unsigned int it is read, while a size_t is written.

I suggest also to fix line
https://github.com/OctoMap/octomap/blob/devel/octomap/src/Pointcloud.cpp#L294 with size_t instead of unsigned int.

Cheers,
Andrea