Plus applications user manual  2.9.0.918b199
Software library for tracked ultrasound image acquisition, calibration, and processing.
Coordinate system definitions used by fCal

Coordinate systems used in fCal:

Reference frame name Origin Unit Axes directions
Phantom fCal-2.x and fCal-3.x phantoms: inside end of the A5 hole on the front (see picture). mm X axis: from column A to B direction
Y axis: towards the back side of the phantom
Z axis: from row 4 to row 1 direction
Reference Origin of the marker that is attached to the calibration phantom mm as defined by the tracking system / marker manufacturer
TransducerOrigin Position of the pixel that is in the middle of the first line of the MF oriented image. In PLUS it's only used for approximate visualization of the transducer 3D model. mm Same as Image
TransducerOriginPixel Same as TransducerOrigin pixel Same as TransdrucerOrigin
Tracker see common coordinate systems description - -
Stylus see common coordinate systems description - -
Probe see common coordinate systems description - -
StylusTip see common coordinate systems description - -
Image see common coordinate systems description - -

Coordinate systems overview sketch (3D Slicer compatible interactive 3D model of the figure below is available here):

CoordinateSystemDefinitionsfCal.png