# 3D volumetric reconstruction from 2D images with 6DOF information offline

**URL:** <https://discourse.slicer.org/t/3d-volumetric-reconstruction-from-2d-images-with-6dof-information-offline/23783>\
**Category:** Support\
**Created:** [June 9, 2022, 6:03am UTC](https://discourse.slicer.org/t/3d-volumetric-reconstruction-from-2d-images-with-6dof-information-offline/23783 "2022-06-09T06:03:09Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![RealBrandonChen](https://sea2.discourse-cdn.com/flex002/user_avatar/discourse.slicer.org/realbrandonchen/32/15561_2.png) [@RealBrandonChen](https://discourse.slicer.org/u/RealBrandonChen)\
**Post date:** [June 9, 2022, 6:03am UTC](https://discourse.slicer.org/t/3d-volumetric-reconstruction-from-2d-images-with-6dof-information-offline/23783/1 "2022-06-09T06:03:09Z")

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Hello, Does anyone know if I can reconstruct a 3D volumetric image with 2D images, of which the world coordinates and the rotation matrix (yaw, pitch, and row) are known? I want to do something like what SlicerIGT does, but I already have the images and 6DOF data and want to process them offline.  
Any suggestions would be appreciated!

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**Author:** ![RealBrandonChen](https://sea2.discourse-cdn.com/flex002/user_avatar/discourse.slicer.org/realbrandonchen/32/15561_2.png) [@RealBrandonChen](https://discourse.slicer.org/u/RealBrandonChen)\
**Post date:** [June 9, 2022, 6:39am UTC](https://discourse.slicer.org/t/3d-volumetric-reconstruction-from-2d-images-with-6dof-information-offline/23783/2 "2022-06-09T06:39:25Z")

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Hello guys,

To better understand, the ultrasound images and the world coordinates are attached for your reference. Thanks! 😀 As you might notice, the coordinates are recorded by time series, i.e., 5fps.  
 ![US0](https://us1.discourse-cdn.com/flex002/uploads/slicer/original/3X/c/7/c725f7a30710c2152a72e8d555c71f949022f42a.png)

 ![1](https://us1.discourse-cdn.com/flex002/uploads/slicer/original/3X/b/1/b1db93dc4261c9dd9a33ebb9c001c91e36d229bb.png)