After the 3D point cloud information based on the study target is acquired, the non-study area point cloud is removed, and during the subsequent data processing, there is a skew phenomenon between the target point cloud pose and the optimal pose. Therefore, a Rodrigues matrix-based point cloud attitude transformation method is proposed in this paper. Firstly, the RANSAC plane fitting algorithm is used to obtain the plane equation of the point cloud to be transformed, then the main direction of the plane equation is discriminated, the rotation angle and rotation vector are calculated to solve the rotation matrix required in the point cloud attitude transformation, and finally the rotation matrix is assigned to the matrix to be transformed to obtain the point cloud data after attitude transformation. It is verified by experimental data that the proposed research method can rotate the target point cloud pose to the required plane, which is a fast method for point cloud data processing.