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

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Mahdi Noroozi
Mahdi Noroozi 2019-6-25
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

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