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