setCameraParameters() window size math

[samarth-robo]

This issue has been posted to the mailing list too: http://www.pcl-users.org/PCL-Visualizer-setCameraParameters-math-td4041757.html

The window size is calculated from the intrinsics matrix at https://github.com/PointCloudLibrary/pcl/blob/master/visualization/src/interactor_style.cpp#L230 as:
// Get the width and height of the image - assume the calibrated centers are at the center of the image
Eigen::Vector2i window_size;
window_size[0] = static_cast<int> (intrinsics (0, 2));
window_size[1] = static_cast<int> (intrinsics (1, 2));

Since the 'calibrated centers are at the center of the image', this seems wrong to me. It seems to me that the window size must be 2 * camera center.

[SergioRAgostinho]

Makes sense. Come up with simple test case so that we can verify it quickly and submit a pull request please.

[taketwo]

Can we close this now?