diff --git a/src/k4a_ros_device.cpp b/src/k4a_ros_device.cpp
index 3229a698..54d1fb2b 100644
--- a/src/k4a_ros_device.cpp
+++ b/src/k4a_ros_device.cpp
@@ -666,8 +666,6 @@ k4a_result_t K4AROSDevice::getPointCloud(const k4a::capture& capture, sensor_msg
 k4a_result_t K4AROSDevice::fillColorPointCloud(const k4a::image& pointcloud_image, const k4a::image& color_image,
                                                sensor_msgs::PointCloud2Ptr& point_cloud)
 {
-  point_cloud->height = pointcloud_image.get_height_pixels();
-  point_cloud->width = pointcloud_image.get_width_pixels();
   point_cloud->is_dense = false;
   point_cloud->is_bigendian = false;
 
@@ -692,6 +690,11 @@ k4a_result_t K4AROSDevice::fillColorPointCloud(const k4a::image& pointcloud_imag
 
   pcd_modifier.resize(point_count);
 
+  // Restore actual dimensions as pcd_modifier.resize(n) sets the cloud size to n x 1
+  point_cloud->height = pointcloud_image.get_height_pixels();
+  point_cloud->width = pointcloud_image.get_width_pixels();
+  point_cloud->row_step = pointcloud_image.get_width_pixels() * point_cloud->point_step;
+
   const int16_t* point_cloud_buffer = reinterpret_cast<const int16_t*>(pointcloud_image.get_buffer());
   const uint8_t* color_buffer = color_image.get_buffer();
 
@@ -724,8 +727,6 @@ k4a_result_t K4AROSDevice::fillColorPointCloud(const k4a::image& pointcloud_imag
 
 k4a_result_t K4AROSDevice::fillPointCloud(const k4a::image& pointcloud_image, sensor_msgs::PointCloud2Ptr& point_cloud)
 {
-  point_cloud->height = pointcloud_image.get_height_pixels();
-  point_cloud->width = pointcloud_image.get_width_pixels();
   point_cloud->is_dense = false;
   point_cloud->is_bigendian = false;
 
@@ -740,6 +741,11 @@ k4a_result_t K4AROSDevice::fillPointCloud(const k4a::image& pointcloud_image, se
 
   pcd_modifier.resize(point_count);
 
+  // Set actual dimensions as pcd_modifier.resize(n) sets the cloud size to n x 1
+  point_cloud->height = pointcloud_image.get_height_pixels();
+  point_cloud->width = pointcloud_image.get_width_pixels();
+  point_cloud->row_step = pointcloud_image.get_width_pixels() * point_cloud->point_step;
+
   const int16_t* point_cloud_buffer = reinterpret_cast<const int16_t*>(pointcloud_image.get_buffer());
 
   for (size_t i = 0; i < point_count; i++, ++iter_x, ++iter_y, ++iter_z)