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