Rotation Matrix 3D of Cartesian Coordinates

Hi, I did a scan with DJIguidance and I created a depth matrix, then I turned the spherical coordinates (azimuth, elevation, r) into Cartesian coordinates (x, y, z). The problem is that DJI guidance does not make a 360-degree scan and for each direction (front, back, left, right) we have obtained a set of Cartesian coordinates.

Now I would like to make a rotation for each matrix to get a three-dimensional graph of the entire scene (360 degrees). For example, the matrix that resulted from the right scan to rotate it 90 degrees, the back one 180 and the left one 270. But unfortunately I do not know how to rotate the matrices. If someone could help me, I would be grateful

Thank you have a good day .