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Resolve "Point Clouds: Efficient colored point clouds"

Merged Resolve "Point Clouds: Efficient colored point clouds"
122-point-clouds-efficient-colored-point-clouds into dev
Merged Jean Patrick Mathes requested to merge 122-point-clouds-efficient-colored-point-clouds into dev

Closes #122 (closed) and #121 (closed)

Edited by Jean Patrick Mathes

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