How to obtain initial pose of Kinect DK?

Question

I see that the SDK provides readouts of the rate gyros. My problem is how to estimate the initial pose (yaw, pitch, roll) of the Kinect. That is, the rate gyros say how the pose is changing over time but how does one obtain the initial pose and/or the transformation of the Kinect 3D inertial space to a locally level North coordinate system?

Answer 1

Let me post a subsidiary question which i do not find answered in the Kinect documentation: Given the IMU readouts for the three pose angles: Roll, Pitch and Yaw -- If I want to transform the point cloud into a local coordinate system, in what order should I apply the rotational transformations ?