Fig. 2.

All images are shown from the X-ray technician's point of view

a Live 3D point cloud computed from the infrared depth image is displayed in red. This intra-operative point cloud is then saved for re-use

b C-arm has been moved to a different pose; the previously saved point cloud is visualised in green and serves as a reference to achieve the previous pose. After successful repositioning of the C-arm shown in:

c Saved and current point clouds shown in green and red, respectively, coincide. This means that the C-arm has been repositioned appropriately