You can create a ROS subscriber for the PointCloud2 topic, and in the callback have it update a scatter3 plot showing the point cloud.
Alternatively, create a pcplayer. Then you can extract the points using readXYZ (and optionally readRGB) and use that to construct a pointCloud object, and provide that to the pcplayer view method to display it.
If you have R2021a, you can create the subscriber using "DataFormat","struct", and make use of "rosPlot" for the scatter3 workflow, or "rosReadXYZ" (and "rosReadRGB") for the pcplayer workflow. Using struct format will make the data manipulation faster.