---
name: "pcl_transform_point_cloud"
section: "1"
platform: "linux"
package: "pcl-tools"
version: "1.15.0+dfsg-2"
release: "Debian 13 (Trixie)"
platforms: ["linux"]
url: "https://new.carta.tech/pcl_transform_point_cloud"
---

# pcl\_transform\_point\_cloud(1)

pcl\_transform\_point\_cloud

## NAME

pcl\_transform\_point\_cloud - pcl\_transform\_point\_cloud

## DESCRIPTION

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

## AUTHOR

pcl\_transform\_point\_cloud is part of Point Cloud Library (PCL) - www.pointclouds.org

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 \<leo@alaxarxa.net\> with the help of help2man tool and some handmade arrangement for the Debian project (and may be used by others).