change angle of the 3d map bieng generated

[hermanumrao]

So I am making a 3d map for some project, but I want to capture the floor too.
I have a Livox Mid 360 lidar.
So i just tilted the mount by an angle of around 40 deg about y axis.

Is there a way that I can rotate the live cloud points map being generated.
I want to use this 3d map to generate a 2d map for helping me with autonomous navigation even while mapping. (any tips for this also will be appreciated)

Thanks a ton in advance.