With vtkVolumePicker, you can get the pick in the actor’s local coordinates (i.e. mapper coordinates) with these methods:
picker.GetMapperPosition()
picker.GetMapperNormal()
Or, if you have the transform that you applied to the volume, you can apply the inverse to the pick position:
point = transform.GetInverse().TransformPoint(point)
normal = transform.GetInverse().TransformNormal(normal)
If you don’t have the transform, then you can create it from the prop matrix of the vtkVolume
transform = vtk.vtkTransform()
transform.Concatenate(volumeActor.GetMatrix())