Systems and methods for calibrating a camera coordinate system to a surface coordinate system

A method, comprising:

• determining, via a processor, a location of a reference marker with respect to a camera based on a signal received from the camera;
• determining, via the processor, a camera intrinsic matrix based on one or more properties associated with the camera;
• determining, via the processor, a first transformation matrix indicative of a first spatial transformation from the camera to a calibration board based on the location;
• determining, via the processor, a second transformation matrix indicative of a second spatial transformation from the calibration board to a surface;
• and
• determining, via the processor, a mapping matrix based on the camera intrinsics matrix, the first transformation matrix, the second transformation matrix, or a combination thereof;
• and
• defining, via the processor, an alignment of a handheld device comprising the reference marker with the surface based on the mapping matrix.

One or more tangible, non-transitory, computer-readable media, comprising instructions that, when executed by at least one processor, cause the at least one processor to:

• determine a location of a reference marker with respect to a camera based on a signal received from the camera;
• determine a camera intrinsics matrix based on one or more properties associated with the camera;
• determine a first transformation matrix indicative of a first spatial transformation from the camera to a calibration board;
• determine a second transformation matrix indicative of a second spatial transformation from the calibration board to a surface;
• determine a mapping matrix based on the camera intrinsics matrix, the first transformation matrix, the second transformation matrix, or a combination thereof;
• and
• define an alignment of a handheld device comprising the reference marker with the surface based on the mapping matrix.