How to output MapPoints?

[RIPGuy]

Hello, I have just begun reading and understanding about orbslam and I read one article that says you can output the MapPoints into a certain file type (.txt or .csv). I'd like to know if anyone here has done it and what is its output? Are they coordinates in like xyz with timestamps?

I'm trying to extract the mappoints and plot them to a 3D modelling software (possibly like matlab) but I dont know where to start yet. I would like to be educated on this matter.