The linear algebra approach we’ve discussed is very well suited to MATLAB implementation. Let’s look at some toolbox functions that can simulate what cameras do.

If you are using a more recent version of MVTB, ie. MVTB 4.x then please change
>> cam.project(PW ‘Tcam’, transl(0.1, 0, 0))

to

>> cam.project(PW ‘pose’, transl(0.1, 0, 0)).