{HEAD ~ Each point sample} contains {TAIL ~ 3D coordinates} in a 3D coordinate system, as well as colour and intensity information 
{ HEAD ~ Each point sample } contains { TAIL ~ 3D coordinates } in a 3D coordinate system , as well as colour and intensity information
HEAD HEAD HEAD HEAD HEAD HEAD HEAD REL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH