The point cloud forms a surface, with each point having its co-ordinates in the form of the text file. The general surface is inclined wrt a plane, what transformation is to be applied to modify the co-ordinates so that the surface is rotated.
I think you need to reduce the dimensionality of data using an appropriate method for your project to visualize the resulting structure (i.e. manifold structure) in the space or on the Cartesian coordinates.
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if I understood correctly: you have the coords of each point, say x y z in your text file. All together they form a surface. Now you want to rotate rigidly this surface.
In this case you just apply a 3D rotation matrix to each point (there are many example of this matrix in the www, for example wolfram-mathworld), and you obtain new x' y'z'. To visualise the rotation you can just choose a projection (the same before and after rotation).
But this looks too straightforward, maybe I have not understood your question?
One possible method is the method of Principal Axes or Singular Value Decomposition (SVD) in order to detremine the principal orientations of the data which is aligned according to some set of orthogonal eigenvectors. This is based on the computation aof the variance-covariance matrix and its diagonalization. A rotation toward these principal axes then defines the new coordinate system in which the cloud of data points can more easily be visualized as well as interpreted.
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