Point cloud export feature is included in
Biomech Add-on.
It allows to export point cloud from all or selected sensors, export RGB and include or subtrackt background.
In a few days we'll release the update that will extend the list of available export formats with formats convenient for animators (PLY, Krakatoa PRT, OBJ and others).
"3d video" that you mention can be done automatically using Krakatoa plugin. For other formats you will also be able to export each frame to a separate file, but I suppose you will need some script that will import files to proper frames (3ds Max import feature just imports single file to a current frame).