How to use lidar geometry to guide sample?

[heatMa]

Dear author, thanks for your great work!

My data is from a high-speed environment and I have used your code to reconstruct static scenes. The reconstruction quality is good. However, the generation of new viewpoints is poor. So I want to use Lidar to assist in training.

I have stitched together multiple frames of static point clouds(filter moving objects), and generated occupancy grids.
I want to use this geometry to guide sampling, just like the method used in the Unisim paper.
Are there some code references available?

Many thanks!