How to convert 3D images into the point clouds?

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The point cloud, a set of points representing the external surface of objects, is commonly generated by 3D scanners or photogrammetry software. It alleviates the direct computational resource demands for analyzing the images. Conversely, I have a repository of grayscale 3D XCT images and wish to transform them into point clouds. For example, please see the following figure.

Example

Could you advise on the procedure to accomplish this? Are there any tools or algorithms for this?

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