How to use World Frame for Point Cloud Data?

I don’t have any need for tracking objects or object detection. I see that the positional tracking parameters have an option for world frame points, but they only apply to object position (as my understanding). Am I to use this somehow?

if zed.grab(runtime_parameters) == sl.ERROR_CODE.SUCCESS:
zed.retrieve_measure(point_cloud, sl.MEASURE.XYZRGBA)
This code grabs point cloud information with camera at origin. I would like this to grab point cloud information with “world frame” reference with floor as origin somehow.


Python code:
runtime_parameters = sl.RuntimeParameters()
runtime_parameters.measure3D_reference_frame = sl.REFERENCE_FRAME.WORLD

After testing of this code, the origin of the world frame is the camera.