Patent ID: 11937771
Assignee: ASENSUS SURGICAL EUROPE SàRL
Field: Audio-visual technology (Electrical engineering)
Classification: CPC A  G  H | IPC A  G  H

Claim 6:
7. The method of claim 1, comprising, for any point Xw in world coordinate system, calculating the coordinate Xp of the same point in the light source coordinate system according to the following equation:

Xp=CpXw,

where Cp, the light source perspective projection matrix, is of the form, C
   p
  
  =
  
   
    α
    [
    
     
      
       
        f
        p
       
      
      
       0
      
      
       
        x
        p
        0
       
      
     
     
      
       0
      
      
       0
      
      
       1
      
     
    
    ]
   
   [
   
    
     
      
       R
       p
      
     
     
      
       t
       p
      
     
    
   
   ]
  
 

where α is a proportion coefficient, fp is the light source focal length scaled to projector dimensions, xp0 is the origin of Xp in projector coordinates, and Rp and tp define the transformation between the world coordinate system and the light source's coordinate system, with Rp being a rotation matrix and tp a translation matrix.