The program that you are asked for a man page, has no man page. However, it doesn't means that there's no information about it. You can install the libpcl-doc package or check:
AUTHORpcl_tool is part of Point Cloud Library (PCL) - www.pointclouds.org
The Point Cloud Library (PCL) is a standalone, large scale, open project for 2D/3D image and point cloud processing.
This manual page was written by Leopold Palomo-Avellaneda <[email protected]> with the help of help2man tool and some handmade arrangement for the Debian project (and may be used by others).