How to find the centroid of each point in point cloud?

Hi guys,

I have a Point Cloud in which there are 10 points, namely 10 markers that I have catched with a depth camera;

I need to know the centers coordinates of each of those points (I mean, I need the xyz coordinates of the first point, the xyz coordinates of the second one and so on).

I am using Matlab 2018b, with Vision System toolbox, and I don't know if there's some dedicate funcion.. I've searched for it, but I haven't find anything similar.

Have you any suggestion?

Thank you!