I'm taking different views of a TopoDS_Shape created from the reading of a STEP file. To do that, I'm moving the camera around X, Y and Z world axis establishing the look-at point (center view) always at the center of mass of the shape. Now I need to calculate the homogeneous matrix (4x4) that transform points from the View Coordinate system into the camera coordinate system. How can I do that?
Another question, is it possible to change the location of the world coordinate system to the center of mass of the shape and then calculate the homogeneous matrix directly between the world coordinate system and the camera system?