If you have a videos on iCloud, but the video is deleted from iPhoto on your iPhone before download it. You can see the video in iCloud on your iPhone, but not able to download the video back to iPhone, then you can download it to your Mac computer.
If you want to download a videos from iCloud to Mac, then open the iCloud Photo Stream on your iPhone by its title. Tap "People" and turn ON "Public Website". Tap "Share" button and send the Photo Stream to your own eMail. You will get a link to your Photo Stream under the title of the stream via email. Open email on your Mac and click on the link, you will find a webpage with all the data in that stream including your videos. Get a video web downloader add on extension for your browser and download the video to your Mac. Import your video to iPhoto and sync it with your iPhone. This way you can download a video from iCloud.
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