diff --git a/README.md b/README.md
index 8b32772..7f66235 100644
--- a/README.md
+++ b/README.md
@@ -1,7 +1,18 @@
-# pointcloud_to_2dmap
+# Pointcloud_Transformation_and_Convert_2dmap
+
+reference: https://github.com/koide3/pointcloud_to_2dmap
+
+## Requirement
+- Eigen
+- OpenCV
+- PCL
+
+
 
 ```bash
 # Usage
+make
+./pointcloud_to_2dmap <path to original pcd file> <option>
 pointcloud_to_2dmap input_pcd dst_directory
 ```
 
diff --git a/sliced_pretransformed_map.png b/sliced_pretransformed_map.png
new file mode 100644
index 0000000..c44bcf5
Binary files /dev/null and b/sliced_pretransformed_map.png differ
diff --git a/src/pointcloud_to_2dmap.cpp b/src/pointcloud_to_2dmap.cpp
index 9d4b754..cc04a6d 100644
--- a/src/pointcloud_to_2dmap.cpp
+++ b/src/pointcloud_to_2dmap.cpp
@@ -8,6 +8,9 @@
 #include <pcl/point_types.h>
 #include <pcl/point_cloud.h>
 
+#include <pcl/common/transforms.h>
+#include <Eigen/Dense>
+
 
 class MapGenerater {
 public:
@@ -30,8 +33,13 @@ class MapGenerater {
         continue;
       }
 
-      int x = point.x * m2pix + map_width / 2;
-      int y = -point.y * m2pix + map_width / 2;
+      // 2D 맵에서 pointcloud의 시작점(0,0,0) 설정
+      // Set initial point(0,0,0) of 2D Map from pointclouds
+
+      // 현재는 (1500 x 1500) 이미지의 (1125, 1125) (3/4 지점)를 PCD 데이터의 (0,0,0)을 맞춘다
+      // Default size is (1500 x 1500), set initial point of image as (1125,1125) (1500 * (3/4))
+      int x = point.x * m2pix + map_width * (3/4);
+      int y = -point.y * m2pix + map_width * (3/4);
 
       if(x < 0 || x >= map_width || y < 0 || y >= map_height) {
         continue;
@@ -46,6 +54,35 @@ class MapGenerater {
     return map;
   }
 
+  pcl::PointCloud<pcl::PointXYZ>::Ptr transformPointCloud(const pcl::PointCloud<pcl::PointXYZ>::Ptr& cloud, float theta[], const Eigen::Vector3f& pivot) {
+    // 회전 변환 행렬 생성
+    Eigen::Affine3f transform = Eigen::Affine3f::Identity();
+
+    // 입력 받은 변환 각도
+    float theta_x, theta_y, theta_z;
+
+    theta_x = M_PI / 360 * theta[0];
+    theta_y = M_PI / 360 * theta[1];
+    theta_z = M_PI / 360 * theta[2];
+
+    // 기준점으로 평행 이동
+    transform.translation() = -pivot;
+    pcl::PointCloud<pcl::PointXYZ>::Ptr shifted_cloud(new pcl::PointCloud<pcl::PointXYZ>);
+    pcl::transformPointCloud(*cloud, *shifted_cloud, transform);
+
+    // 회전 변환 적용
+    transform.translation() = Eigen::Vector3f::Zero();
+    transform.rotate(Eigen::AngleAxisf(theta_x, Eigen::Vector3f::UnitX()));
+    transform.rotate(Eigen::AngleAxisf(theta_y, Eigen::Vector3f::UnitY()));
+    transform.rotate(Eigen::AngleAxisf(theta_z, Eigen::Vector3f::UnitZ()));
+    pcl::PointCloud<pcl::PointXYZ>::Ptr rotated_cloud(new pcl::PointCloud<pcl::PointXYZ>);
+    pcl::transformPointCloud(*shifted_cloud, *rotated_cloud, transform);
+    pcl::PointCloud<pcl::PointXYZ>::Ptr transformed_cloud(new pcl::PointCloud<pcl::PointXYZ>);
+    pcl::transformPointCloud(*rotated_cloud, *transformed_cloud, transform);
+
+    return transformed_cloud;
+}
+
 public:
   const double resolution;    // meters per pixel
   const double m2pix;         // inverse resolution (pix/m)
@@ -65,14 +102,16 @@ int main(int argc, char** argv) {
   description.add_options()
     ("help", "Produce help message")
     ("resolution,r", po::value<double>()->default_value(0.1), "Pixel resolution (meters / pix)")
-    ("map_width,w", po::value<int>()->default_value(1024), "Map width [pix]")
-    ("map_height,h", po::value<int>()->default_value(1024), "Map height [pix]")
+    ("map_width,w", po::value<int>()->default_value(1500), "Map width [pix]") // default: 1024
+    ("map_height,h", po::value<int>()->default_value(1500), "Map height [pix]") // default: 1024
     ("min_points_in_pix", po::value<int>()->default_value(2), "Min points in a occupied pix")
     ("max_points_in_pix", po::value<int>()->default_value(5), "Max points in a pix for saturation")
-    ("min_height", po::value<double>()->default_value(0.5), "Min height of clipping range")
-    ("max_height", po::value<double>()->default_value(1.0), "Max height of clipping range")
+    ("min_height", po::value<double>()->default_value(1), "Min height of clipping range") // default: 0.5
+    ("max_height", po::value<double>()->default_value(2), "Max height of clipping range") // default: 1.0
     ("input_pcd", po::value<std::string>(), "Input PCD file")
     ("dest_directory", po::value<std::string>(), "Destination directory")
+    ("transformation_mode", po::value<bool>()->default_value(false), "Transformation(Translation and Rotation) pointcloud") // default: false
+
   ;
 
   po::variables_map vm;
@@ -82,6 +121,7 @@ int main(int argc, char** argv) {
       po::positional_options_description()
         .add("input_pcd", 1)
         .add("dest_directory", 1)
+        .add("transformation_mode", 1)
     ).run(), vm
   );
   po::notify(vm);
@@ -100,23 +140,60 @@ int main(int argc, char** argv) {
     return 1;
   }
 
-  MapGenerater generater(vm);
-  cv::Mat map = generater.generate(*cloud);
+  // MapGenerater 인스턴스 생성
+  MapGenerater transformation_map_generater(vm);
+  MapGenerater map2d_generater(vm);
+  cv::Mat map;
+
+  // 모드 설정
+  bool transformation_mode = true; // true: pcd 변환 및 별도 저장과 2d map 저장, false: 2d map 저장
+
+  /*
+  아래 if 문은 pcd 파일을 translation 하고 다른 파일로 저장하는 부분
+  */
+  if (transformation_mode){
+
+    // rotation(회전) 각도 설정: (x,y,z 순으로 degree 단위)
+    float theta[3] = {5, -20, 15.5}; // 임의로 찾은 최적의 값 (5, -20, 15.75도)
+
+    // translation(평행 이동) 설정: x는 위아래, y는 좌우
+    // 맵을 만드려고 하는 pointcloud의 가장 왼쪽 아래 영역으로 
+    Eigen::Vector3f pivot(2.6, -7.2, 0);
+
+    // 변환 함수
+    pcl::PointCloud<pcl::PointXYZ>::Ptr transformed_cloud = transformation_map_generater.transformPointCloud(cloud, theta, pivot);
+
+    // transform 결과를 별도의 pcd 저장, 필요하지 않은 경우 주석 처리
+    std::string output_filename = "transformed2_9F.pcd"; // 출력 PCD 파일 경로
+    std::cout << "PointCloud transform start!" << std::endl;
+    pcl::io::savePCDFileASCII(output_filename, *transformed_cloud); // 별도의 PCD 파일 저장
+    std::cout << "transformed PointCloud saved!" << std::endl;
+
+    //cv::Mat 
+    map = map2d_generater.generate(*transformed_cloud);
+  }
+
+  else{
+    //cv::Mat 
+    map = map2d_generater.generate(*cloud);
+  }
 
   std::string destination = vm["dest_directory"].as<std::string>();
   if(!boost::filesystem::exists(destination)) {
     boost::filesystem::create_directories(destination);
   }
 
-  cv::imwrite(destination + "/map.png", map);
+  // 파일 이름 지정
+  cv::imwrite(destination + "/sliced_pretransformed_map.png", map);
   
   std::ofstream ofs(destination + "/map.yaml");
   ofs << "image: map.png" << std::endl;
-  ofs << "resolution: " << generater.resolution << std::endl;
-  ofs << "origin: [" << -generater.resolution * generater.map_width / 2 << ", " << -generater.resolution * generater.map_height / 2 << ", 0.0]" << std::endl;
+  ofs << "resolution: " << map2d_generater.resolution << std::endl;
+  ofs << "origin: [" << -map2d_generater.resolution * map2d_generater.map_width / 2 << ", " << -map2d_generater.resolution * map2d_generater.map_height / 2 << ", 0.0]" << std::endl;
   ofs << "occupied_thresh: 0.5" << std::endl;
   ofs << "free_thresh: 0.2" << std::endl;
   ofs << "negate: 0" << std::endl;
+  std::cout << "map image saved!" << std::endl;
 
   return 0;
 }
\ No newline at end of file