in the SFM example how to increase the density of point cloud

I'm trying to make 3D scanner with matlab code utilizing the surface from motion technique similar to the example in the link bellow: https://www.mathworks.com/help/vision/examples/structure-from-motion-from-multiple-views.html the output of this code is 3D point cloud. The question is how to increase the density of the point cloud to be able to construct good surface by any of the (point cloud to mesh) codes, I'm using 15M pixel camera, image size 4160X3120. for the current configuration the point cloud (xyzPoints) density is 1912X3 double matrix which is not sufficient to fit a good surface I noticed that improving the resolution of input images does not increase the output point cloud density, there should be some adjustments to the variables in this code to dramatically increase it. if anyone has experience with that code can help me I'd be grateful

Thank you in advance