I have unknown point clouds that I need to find the rotation angle or the transformation matrix that align that point cloud into X-Z plane. picture Note that there are bears(columns) that can be used for transforming that plane(bridge) into the coordinate system.

I really don't know the approach or the math for doing that. enter image description here

The point cloud has been captured by a 3D laser scanner.

  • $\begingroup$ Comments are not for extended discussion; this conversation has been moved to chat. $\endgroup$ – Aloizio Macedo Feb 11 at 13:47

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