{TAIL ~ Each 3D point sample} includes 3D coordinates, as well as intensity and {HEAD ~ colour information}, and optionally, surface normals to assist illumination models 
{ TAIL ~ Each 3D point sample } includes 3D coordinates , as well as intensity and { HEAD ~ colour information } , and optionally , surface normals to assist illumination models
TAIL TAIL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH