diff --git a/demos/opengl/camera.cpp b/demos/opengl/camera.cpp
new file mode 100644
index 0000000..8a2344c
--- /dev/null
+++ b/demos/opengl/camera.cpp
@@ -0,0 +1,264 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#include "camera.h"
+
+#include "gpuhelper.h"
+#include <GL/glu.h>
+
+#include "Eigen/LU"
+using namespace Eigen;
+
+Camera::Camera()
+    : mViewIsUptodate(false), mProjIsUptodate(false)
+{
+    mViewMatrix.setIdentity();
+    
+    mFovY = M_PI/3.;
+    mNearDist = 1.;
+    mFarDist = 50000.;
+    
+    mVpX = 0;
+    mVpY = 0;
+
+    setPosition(Vector3f::Constant(100.));
+    setTarget(Vector3f::Zero());
+}
+
+Camera& Camera::operator=(const Camera& other)
+{
+    mViewIsUptodate = false;
+    mProjIsUptodate = false;
+    
+    mVpX = other.mVpX;
+    mVpY = other.mVpY;
+    mVpWidth = other.mVpWidth;
+    mVpHeight = other.mVpHeight;
+
+    mTarget = other.mTarget;
+    mFovY = other.mFovY;
+    mNearDist = other.mNearDist;
+    mFarDist = other.mFarDist;
+    
+    mViewMatrix = other.mViewMatrix;
+    mProjectionMatrix = other.mProjectionMatrix;
+
+    return *this;
+}
+
+Camera::Camera(const Camera& other)
+{
+    *this = other;
+}
+
+Camera::~Camera()
+{
+}
+
+
+void Camera::setViewport(uint offsetx, uint offsety, uint width, uint height)
+{
+    mVpX = offsetx;
+    mVpY = offsety;
+    mVpWidth = width;
+    mVpHeight = height;
+    
+    mProjIsUptodate = false;
+}
+
+void Camera::setViewport(uint width, uint height)
+{
+    mVpWidth = width;
+    mVpHeight = height;
+    
+    mProjIsUptodate = false;
+}
+
+void Camera::setFovY(float value)
+{
+    mFovY = value;
+    mProjIsUptodate = false;
+}
+
+Vector3f Camera::direction(void) const
+{
+    return - (orientation() * Vector3f::UnitZ());
+}
+Vector3f Camera::up(void) const
+{
+    return orientation() * Vector3f::UnitY();
+}
+Vector3f Camera::right(void) const
+{
+    return orientation() * Vector3f::UnitX();
+}
+
+void Camera::setDirection(const Vector3f& newDirection)
+{
+    // TODO implement it computing the rotation between newDirection and current dir ?
+    Vector3f up = this->up();
+    
+    Matrix3f camAxes;
+
+    camAxes.col(2) = (-newDirection).normalized();
+    camAxes.col(0) = up.cross( camAxes.col(2) ).normalized();
+    camAxes.col(1) = camAxes.col(2).cross( camAxes.col(0) ).normalized();
+    setOrientation(Quaternionf(camAxes));
+    
+    mViewIsUptodate = false;
+}
+
+void Camera::setTarget(const Vector3f& target)
+{
+    mTarget = target;
+    if (!mTarget.isApprox(position()))
+    {
+        Vector3f newDirection = mTarget - position();
+        setDirection(newDirection.normalized());
+    }
+}
+
+void Camera::setPosition(const Vector3f& p)
+{
+    mFrame.position = p;
+    mViewIsUptodate = false;
+}
+
+void Camera::setOrientation(const Quaternionf& q)
+{
+    mFrame.orientation = q;
+    mViewIsUptodate = false;
+}
+
+void Camera::setFrame(const Frame& f)
+{
+  mFrame = f;
+  mViewIsUptodate = false;
+}
+
+void Camera::rotateAroundTarget(const Quaternionf& q)
+{
+    Matrix4f mrot, mt, mtm;
+    
+    // update the transform matrix
+    updateViewMatrix();
+    Vector3f t = mViewMatrix * mTarget;
+
+    mViewMatrix = Translation3f(t)
+                * q
+                * Translation3f(-t)
+                * mViewMatrix;
+    
+    Quaternionf qa(mViewMatrix.linear());
+    qa = qa.conjugate();
+    setOrientation(qa);
+    setPosition(- (qa * mViewMatrix.translation()) );
+
+    mViewIsUptodate = true;
+}
+
+void Camera::localRotate(const Quaternionf& q)
+{
+    float dist = (position() - mTarget).norm();
+    setOrientation(orientation() * q);
+    mTarget = position() + dist * direction();
+    mViewIsUptodate = false;
+}
+
+void Camera::zoom(float d)
+{
+    float dist = (position() - mTarget).norm();
+    if(dist > d)
+    {
+        setPosition(position() + direction() * d);
+        mViewIsUptodate = false;
+    }
+}
+
+void Camera::localTranslate(const Vector3f& t)
+{
+  Vector3f trans = orientation() * t;
+  setPosition( position() + trans );
+  setTarget( mTarget + trans );
+
+  mViewIsUptodate = false;
+}
+
+void Camera::updateViewMatrix(void) const
+{
+    if(!mViewIsUptodate)
+    {
+        Quaternionf q = orientation().conjugate();
+        mViewMatrix.linear() = q.toRotationMatrix();
+        mViewMatrix.translation() = - (mViewMatrix.linear() * position());
+
+        mViewIsUptodate = true;
+    }
+}
+
+const Affine3f& Camera::viewMatrix(void) const
+{
+  updateViewMatrix();
+  return mViewMatrix;
+}
+
+void Camera::updateProjectionMatrix(void) const
+{
+  if(!mProjIsUptodate)
+  {
+    mProjectionMatrix.setIdentity();
+    float aspect = float(mVpWidth)/float(mVpHeight);
+    float theta = mFovY*0.5;
+    float range = mFarDist - mNearDist;
+    float invtan = 1./tan(theta);
+
+    mProjectionMatrix(0,0) = invtan / aspect;
+    mProjectionMatrix(1,1) = invtan;
+    mProjectionMatrix(2,2) = -(mNearDist + mFarDist) / range;
+    mProjectionMatrix(3,2) = -1;
+    mProjectionMatrix(2,3) = -2 * mNearDist * mFarDist / range;
+    mProjectionMatrix(3,3) = 0;
+    
+    mProjIsUptodate = true;
+  }
+}
+
+const Matrix4f& Camera::projectionMatrix(void) const
+{
+  updateProjectionMatrix();
+  return mProjectionMatrix;
+}
+
+void Camera::activateGL(void)
+{
+  glViewport(vpX(), vpY(), vpWidth(), vpHeight());
+  gpu.loadMatrix(projectionMatrix(),GL_PROJECTION);
+  gpu.loadMatrix(viewMatrix().matrix(),GL_MODELVIEW);
+}
+
+
+Vector3f Camera::unProject(const Vector2f& uv, float depth) const
+{
+    Matrix4f inv = mViewMatrix.inverse().matrix();
+    return unProject(uv, depth, inv);
+}
+
+Vector3f Camera::unProject(const Vector2f& uv, float depth, const Matrix4f& invModelview) const
+{
+    updateViewMatrix();
+    updateProjectionMatrix();
+    
+    Vector3f a(2.*uv.x()/float(mVpWidth)-1., 2.*uv.y()/float(mVpHeight)-1., 1.);
+    a.x() *= depth/mProjectionMatrix(0,0);
+    a.y() *= depth/mProjectionMatrix(1,1);
+    a.z() = -depth;
+    // FIXME /\/|
+    Vector4f b = invModelview * Vector4f(a.x(), a.y(), a.z(), 1.);
+    return Vector3f(b.x(), b.y(), b.z());
+}