How to obtain 3D point clouds from this 3D vectors?

I want to the following commands that it gives us a 3D vector every time, first save 3D vetors in point clouds matrix(using point cloud function) and then I will show it(using pcshow function).

Thank you for answering

clc;
clear;
close all;

aphi1=ones(656,875);
Pof=30;
Ic=[202.1663,-0.0011,2482.9949;0.0,211.7087,1990.3713;0.0,0.0,1.0];
Ec=[eye(3) zeros(3,1)];
Ip=[28.5322,0.0000,1070.6130;0.0,23.2564,1670.7143;0.0,0.0,1.0];
Rp=rotationVectorToMatrix([-0.0088,0.0055,0.0114]);
tp=transpose([150.6519,30.4253,-24.9172]);
Ep=[Rp tp];

Hc=Ic*Ec;

Hp=Ip*Ep;

[m,n]=size(aphi1);


for i=1:m

    for j=1:n
        
        Up=aphi1(i,j)*(Pof/2*pi);
        
        T=[Hc(1,1)-i*Hc(3,1),Hc(1,2)-i*Hc(3,2),Hc(1,3)-i*Hc(3,3);
            Hc(2,1)-j*Hc(3,1),Hc(2,2)-j*Hc(3,2),Hc(2,3)-j*Hc(3,3);
            Hc(1,1)-Up*Hp(3,1),Hp(1,2)-Up*Hp(3,2),Hp(1,3)-Up*Hp(3,3)];
        
        Y=[i*Hc(3,4)-Hc(1,4);j*Hc(3,4)-Hc(2,4);Up*Hp(3,4)-Hp(1,4)];
        
        K=inv(T)*Y;
        
    end
end