I am working with the kinect and am placing the kinect point cloud in the 3d space using the original axis as my reference. now the kinect is placed at a angle somewhere in 3d space.

Currently i set up my scene and then pushmatrix() and translate/rotate to the kinect camera origin and then place the point cloud. then pop matrix and work with the data.. Now the kinect can calculate the centre of gravity for users but it is in the kinect 3d space cooridnates, and as the kinect uses the z axis as the "traditional" x axis everything is a bit strange. But my point cloud lines up and all is good.

The question: is there an easiy way to translate this point in 3d kinect space to the original reference space? im pretty sure i saw a native function somewhere that does this but i cant remember.so basically i need the centre of gravity in the original space

Rob