PerspectiveSensor::PerspectiveSensor(const AttributeList& attributes) { m_imageSize.x() = attributes.getInteger("imageWidth", 800); m_imageSize.y() = attributes.getInteger("imageHeight", 600); m_fov = attributes.getFloat("fov", 70); m_nearClip = attributes.getFloat("nearClip", 1e-4f); m_farClip = attributes.getFloat("farClip", 1e4f); m_invImageSize = m_imageSize.cast<float>().cwiseInverse(); m_cameraToWorld = attributes.getTransform("toWorld", Transform()); }