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I am aware, that there has been previous posts on how to read .XYZ files. I have very rich and dense point cloud data, resulting from a 3D scan with a laser scanner. I wish to read it in PCL. I have seen in other posts, people have said prepend header as given in the PCL tutorial, but I am not exactly sure how to do that for my respective files. I certainly have more than a million point for my scanned work-piece, and I really need to be able to read my file in order to do recognition for my research. Any help will be appreciated. Thanks in advance.