near              124 modules/viz/src/types.cpp     double near = proj(2,3) / (proj(2,2) - 1.0);
near              125 modules/viz/src/types.cpp     double far = near * (proj(2,2) - 1.0) / (proj(2,2) + 1.0);
near              126 modules/viz/src/types.cpp     double left = near * (proj(0,2)-1) / proj(0,0);
near              127 modules/viz/src/types.cpp     double right = 2.0 * near / proj(0,0) + left;
near              128 modules/viz/src/types.cpp     double bottom = near * (proj(1,2)-1) / proj(1,1);
near              129 modules/viz/src/types.cpp     double top = 2.0 * near / proj(1,1) + bottom;
near              136 modules/viz/src/types.cpp     focal_[0] = -near * principal_point_[0] / left;
near              137 modules/viz/src/types.cpp     focal_[1] =  near * principal_point_[1] / top;
near              139 modules/viz/src/types.cpp     setClip(Vec2d(near, far));