55 Eigen::Vector4d pte (pt.x, pt.y, pt.z, 1);
56 window_cord = composite_mat * pte;
57 window_cord /=window_cord (3);
58 window_cord[0] = (window_cord[0]+1.0) / 2.0*
window_size[0];
59 window_cord[1] = (window_cord[1]+1.0) / 2.0*
window_size[1];
60 window_cord[2] = (window_cord[2]+1.0) / 2.0;