---
title: "Transform"
product: "LumiScan VGR"
component: "lumiscan-vgr"
version: "1.8.4"
display_version: "1.8.4.6"
latest_version: true
language: "en"
url: "https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/api/settings/transform.html"
---

# Transform – LumiScan VGR

Transformation between coordinate systems.

## Member Variables

- **`translation`:** `std::array< float, 3 >`, default: `\{0.F, 0.F, 0.F\}` [m] (x, y, z)

- **`orientation`:** `std::array< float, 3 >`, default: `\{0.F, 0.F, 0.F\}` [degrees] ExtrinsicXYZ (Rx, Ry, Rz)

- **`baseFrame`:** `BaseFrame`, default: `\{` FrameType[CAMERA|ROBOT|OBJECT]: [Transform](https://docs.hdvisionsystems.com/en/lumiscan-vgr/1.8.4/api/settings/transform.html#) into specified base frame(coordinate system). Currently only CAMERA supported.

- **`objectId`:** `std::optional< std::string >`, default: `\{std::nullopt\}`

## Enumerations

**Table 1. BaseFrame**

| Value | Description |
| --- | --- |
| `ROBOT` | select robot base coordinate system |
| `CAMERA` | select camera coordinate system |
| `OBJECT` | select object coordinate system |
| `GRIP` | select TCP @ grip position |

**Table 2. AxisSelection**

| Value | Description |
| --- | --- |
| `X` | select x axis of coordinate system |
| `Y` | select y axis of coordinate system |
| `Z` | select z axis of coordinate system |