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    %% Rotate 3-D Point Cloud
% 
%%
% Read a point cloud.

% Copyright 2015 The MathWorks, Inc.

ptCloud = pcread('teapot.ply');
%% 
% Plot the original data.
figure
pcshow(ptCloud); 
xlabel('X');
ylabel('Y');
zlabel('Z');
%% 
% Create a transform object with a 45 degrees rotation along the _z_ -axis.
A = [cos(pi/4) sin(pi/4) 0 0; ...
     -sin(pi/4) cos(pi/4) 0 0; ...
     0 0 1 0; ...
     0 0 0 1];
tform = affine3d(A);
%% 
% Transform the point cloud.
ptCloudOut = pctransform(ptCloud,tform);
%% 
% Plot the transformed point cloud.
figure
pcshow(ptCloudOut);
xlabel('X');
ylabel('Y');
zlabel('Z');