Requirements for Point Cloud Data Format

Thanks for your great work!
I have a question regarding the point cloud data format: is it necessary to include color and normal?
Typically, LiDAR point clouds only contain xyz coordinates and intensity, without any color or normal information. I noticed that your paper evaluated outdoor scenes on SemanticKITTI. How did you handle this?

Start by locating the repository's point-cloud input requirements and the SemanticKITTI data-loading or preprocessing entry point. Document whether color and normal are required and how xyz/intensity-only LiDAR data is handled, with a concrete example or reference.

Written by the indexing model from the issue text.