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pcl_transform_point_cloud - pcl_transform_point_cloud


Syntax is: pcl_transform_point_cloud input.pcd output.pcd <options>

Transform a cloud. For more information, use: pcl_transform_point_cloud -h

where options are:

-trans dx,dy,dz = the translation (default: 0.0, 0.0, 0.0)

-quat w,x,y,z = rotation as quaternion

-axisangle ax,ay,az,theta = rotation in axis-angle form

-scale x,y,z = scale each dimension with these values

-matrix v1,v2,...,v8,v9 = a 3x3 affine transform

-matrix v1,v2,...,v15,v16 = a 4x4 transformation matrix

Note: If a rotation is not specified, it will default to no rotation.

If redundant or conflicting transforms are specified, then:

-axisangle will override -quat

-matrix (3x3) will take override -axisangle and -quat

-matrix (4x4) will take override all other arguments


pcl_transform_point_cloud is part of Point Cloud Library (PCL) -

The Point Cloud Library (PCL) is a standalone, large scale, open project for 2D/3D image and point cloud processing.

This manual page was written by Leopold Palomo-Avellaneda <> with the help of help2man tool and some handmade arrangement for the Debian project (and may be used by others).

May 2014 pcl_transform_point_cloud 1.7.1