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