Patent ID: 7990397

Claim:
A method of displaying a scene, the method comprising: scanning a scene to form a point cloud representing at least one point on a surface within the scene; displaying the point cloud as an image array on a display screen such that the at least one point is represented on the display screen as a pixel; determining location data for the at least one point by determining an offset between a reference position of the at least one pixel and an intersection point, the reference position being located on the pixel, the intersection point being the point at which a ray from the at least one point to the scanning position intersects the pixel, wherein the offset comprises data describing the position of the intersection point relative to the reference position; and storing the location data; wherein the offset is added to the reference position of the at least one pixel, the result normalized and multiplied by a range of a point visible in the at least one pixel in order to obtain a 3D coordinate of the point visible in the at least one pixel.