Let's assume we have a 3D model consisted of XYZ-formatted vertices (such as point cloud model). My problem is given the position and normal of camera or camera projection (i.e. where I am looking at the points- usually given by my API), how can I extract the visible points and remove the non-visible points?

For instance here all points corresponding to the green box and the back surface of the orange box are removed.

P.S. It doesn't have to be perfect. Just any approach to somehow remove the non-visible points so to decrease the total points with not much impact on the visible points will work.

Here is a test point cloud model to work with: https://www.dropbox.com/s/dfhyy9xa5i9o2fz/testPLY.ply?dl=0