How to extract the highlighted point cloud

[robotNo201]

I wonder if we can extract the highlighted point cloud in some format, such as 3d relevancy map, transformation matrix, or 3d clip embedding? Appreciate your help

[owenonline]

I would also like this @kerrj

[gtangg12]

Since rendering all multiscale views of even one frame cannot fit in memory, I suppose rendering the dense point cloud just refers to rendering all views and testing? Is there any point cloud sparsification? @kerrj