dom_bearing

Here, we want to rotate our point cloud in the real ground North orientation.

first, find the center point (origin) of trajectory path i.e. the point from where we had started the scanning process.

second, during scanning time we fixed the 'Turning position', after that we move right direction. So,

here we can identify the line between origin and Turning point is North direction.

finally, we calculated the whole circle bearing (angle) of that line from the actual North position and

accordingly we rotate our plot.