diff --git a/apps/Viewer/Camera.cpp b/apps/Viewer/Camera.cpp
index b93460eb1..b217c2d6b 100644
--- a/apps/Viewer/Camera.cpp
+++ b/apps/Viewer/Camera.cpp
@@ -103,12 +103,30 @@ void Camera::SetFOV(double _fov)
 
 Eigen::Vector3d Camera::GetPosition() const
 {
-	const Eigen::Matrix3d r(rotation.toRotationMatrix());
+	const Eigen::Matrix3d R(rotation.toRotationMatrix());
 	const Eigen::Vector3d eye(0, 0, dist);
-	return r * eye + center;
+	return R * eye + center;
 }
 
-void Camera::GetLookAt(Eigen::Vector3d& _eye, Eigen::Vector3d& _center, Eigen::Vector3d& _up)
+Eigen::Matrix4d Camera::GetLookAt() const
+{
+	const Eigen::Matrix3d R(rotation.toRotationMatrix());
+	const Eigen::Vector3d eye(R.col(2) * dist + center);
+	const Eigen::Vector3d up(R.col(1));
+	
+	const Eigen::Vector3d n((center-eye).normalized());
+	const Eigen::Vector3d s(n.cross(up));
+	const Eigen::Vector3d v(s.cross(n));
+	
+	Eigen::Matrix4d m;
+	m <<
+	s(0),  s(1),  s(2), -eye.dot(s),
+	v(0),  v(1),  v(2), -eye.dot(v),
+	-n(0), -n(1), -n(2),  eye.dot(n),
+	0.0, 0.0, 0.0, 1.0;
+	return m;
+}
+void Camera::GetLookAt(Eigen::Vector3d& _eye, Eigen::Vector3d& _center, Eigen::Vector3d& _up) const
 {
 	const Eigen::Matrix3d R(rotation.toRotationMatrix());
 	const Eigen::Vector3d eye(0, 0, dist);
diff --git a/apps/Viewer/Camera.h b/apps/Viewer/Camera.h
index 64973d35b..37d982386 100644
--- a/apps/Viewer/Camera.h
+++ b/apps/Viewer/Camera.h
@@ -68,7 +68,8 @@ class Camera
 	void SetFOV(double _fov);
 
 	Eigen::Vector3d GetPosition() const;
-	void GetLookAt(Eigen::Vector3d& eye, Eigen::Vector3d& center, Eigen::Vector3d& up);
+	Eigen::Matrix4d GetLookAt() const;
+	void GetLookAt(Eigen::Vector3d& eye, Eigen::Vector3d& center, Eigen::Vector3d& up) const;
 	void Rotate(const Eigen::Vector2d& pos, const Eigen::Vector2d& prevPos);
 
 protected:
diff --git a/apps/Viewer/Window.cpp b/apps/Viewer/Window.cpp
index 56cccb3da..f39784f61 100644
--- a/apps/Viewer/Window.cpp
+++ b/apps/Viewer/Window.cpp
@@ -124,7 +124,6 @@ void Window::Reset()
 void Window::UpdateView(const ImageArr& images, const MVS::ImageArr& sceneImages)
 {
 	glMatrixMode(GL_MODELVIEW);
-	glLoadIdentity();
 	if (camera->prevCamID != camera->currentCamID && camera->currentCamID != NO_ID) {
 		// enable camera view mode
 		// apply current camera transform
@@ -132,13 +131,12 @@ void Window::UpdateView(const ImageArr& images, const MVS::ImageArr& sceneImages
 		const MVS::Image& imageData = sceneImages[image.idx];
 		const MVS::Camera& camera = imageData.camera;
 		const Eigen::Matrix4d trans(TransW2L((const Matrix3x3::EMat)camera.R, camera.GetT()));
-		glMultMatrixf((GLfloat*)gs_convert);
+		glLoadMatrixf((GLfloat*)gs_convert);
 		glMultMatrixd((GLdouble*)trans.data());
 	} else {
 		// apply view point transform
-		Eigen::Vector3d eye, center, up;
-		camera->GetLookAt(eye, center, up);
-		gluLookAt(eye.x(), eye.y(), eye.z(), center.x(), center.y(), center.z(), up.x(), up.y(), up.z());
+		const Eigen::Matrix4d trans(camera->GetLookAt());
+		glLoadMatrixd((GLdouble*)trans.data());
 	}
 }