diff --git a/src/pc_reader_raw.rs b/src/pc_reader_raw.rs
index ec82b7a..629a395 100644
--- a/src/pc_reader_raw.rs
+++ b/src/pc_reader_raw.rs
@@ -1,4 +1,3 @@
-use crate::error::Converter;
 use crate::paged_reader::PagedReader;
 use crate::queue_reader::QueueReader;
 use crate::PointCloud;
@@ -26,17 +25,6 @@ impl<'a, T: Read + Seek> PointCloudReaderRaw<'a, T> {
             read: 0,
         })
     }
-
-    fn pop_point(&mut self) -> Result<RawValues> {
-        let mut point = RawValues::with_capacity(self.prototype_len);
-        for i in 0..self.prototype_len {
-            let value = self.queue_reader.queues[i]
-                .pop_front()
-                .internal_err("Failed to pop value for next point")?;
-            point.push(value);
-        }
-        Ok(point)
-    }
 }
 
 impl<'a, T: Read + Seek> Iterator for PointCloudReaderRaw<'a, T> {
@@ -58,8 +46,9 @@ impl<'a, T: Read + Seek> Iterator for PointCloudReaderRaw<'a, T> {
         }
 
         // Extract next point
-        match self.pop_point() {
-            Ok(point) => {
+        let mut point = RawValues::with_capacity(self.prototype_len);
+        match self.queue_reader.pop_point(&mut point) {
+            Ok(()) => {
                 self.read += 1;
                 Some(Ok(point))
             }
diff --git a/src/pc_reader_simple.rs b/src/pc_reader_simple.rs
index 5e4e294..a5e0f2e 100644
--- a/src/pc_reader_simple.rs
+++ b/src/pc_reader_simple.rs
@@ -1,4 +1,3 @@
-use crate::error::Converter;
 use crate::paged_reader::PagedReader;
 use crate::queue_reader::QueueReader;
 use crate::{
@@ -144,13 +143,7 @@ impl<'a, T: Read + Seek> PointCloudReaderSimple<'a, T> {
 
     fn pop_point(&mut self) -> Result<Point> {
         // Read raw values of the point from queue
-        self.values.clear();
-        for i in 0..self.pc.prototype.len() {
-            let value = self.queue_reader.queues[i]
-                .pop_front()
-                .internal_err("Failed to pop value for next point")?;
-            self.values.push(value);
-        }
+        self.queue_reader.pop_point(&mut self.values)?;
 
         // Some shortcuts for better readability
         let proto = &self.pc.prototype;
diff --git a/src/queue_reader.rs b/src/queue_reader.rs
index 98cc99b..51ee183 100644
--- a/src/queue_reader.rs
+++ b/src/queue_reader.rs
@@ -6,6 +6,7 @@ use crate::packet::PacketHeader;
 use crate::paged_reader::PagedReader;
 use crate::Error;
 use crate::PointCloud;
+use crate::RawValues;
 use crate::RecordDataType;
 use crate::RecordValue;
 use crate::Result;
@@ -13,14 +14,13 @@ use std::collections::VecDeque;
 use std::io::{Read, Seek};
 
 /// Read compressed vector sections into queues of raw values.
-/// There will be once queue for each record defined by the prototype.
 pub struct QueueReader<'a, T: Read + Seek> {
     pc: PointCloud,
     reader: &'a mut PagedReader<T>,
     buffer: Vec<u8>,
     buffer_sizes: Vec<usize>,
     byte_streams: Vec<ByteStreamReadBuffer>,
-    pub queues: Vec<VecDeque<RecordValue>>,
+    queues: Vec<VecDeque<RecordValue>>,
 }
 
 impl<'a, T: Read + Seek> QueueReader<'a, T> {
@@ -59,6 +59,19 @@ impl<'a, T: Read + Seek> QueueReader<'a, T> {
         av
     }
 
+    /// Return values for the next point by popping one value from each queue.
+    /// Use an existing vector with enough capacity to avoid frequent reallocations!
+    pub fn pop_point(&mut self, output: &mut RawValues) -> Result<()> {
+        output.clear();
+        for i in 0..self.pc.prototype.len() {
+            let value = self.queues[i]
+                .pop_front()
+                .internal_err("Failed to pop value for next point")?;
+            output.push(value);
+        }
+        Ok(())
+    }
+
     /// Reads the next packet from the compressed vector and decodes it into the queues.
     pub fn advance(&mut self) -> Result<()> {
         let packet_header = PacketHeader::read(self.reader)?;