Observation direction of points in point cloud

[Yomna]

Hello,

I am currently working on a robot with 2 Intel realsense D435 cameras and 1 Intel tracking camera T265 and I have successfully accomplished dual mapping with the 2 depth cameras with external odometry from the T265, the next step in my project requires a planning map as a set of Np points where each point in the map has information about its Cartesian coordinates and its observation direction (a vector pointing toward the sensor at the time of observation)." I have 2 questions, 1) Can I get the points' observation direction from rtabmap/cloud_map? 2) if so, can you point me in the right direction of how to do that?

Thanks in advance.