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+function [ camMatrix ] = cameraMatrix(instrinsicMatrix,rotationMatrix,translationVector)
+// Returns camera projection matrix.
+//
+// Calling Sequence
+//   camMatrix = cameraMatrix(instrinsicMatrix,rotationMatrix,translationVector);
+//
+// Parameters
+// camMatrix: A 4x3 camera projection matrix, which can be used to project 3-D world points in homogenous co-ordinates into an image.
+// instrinsicMatrix: Projection matrix of size 3x3.
+// rotationMatrix: A 3x3 matrix which specifies the rotation of a camera.
+// translationVector: A 1x3 vector which specifies the translation of a camera.
+//
+// Description
+// Return a matrix of size 4-by-3, which can be used to project 3-D world points in homogenous co-ordinates into an image.
+//
+// Examples
+// instrinsicMatrix = [1 0 0; 1 2 0; 3 4 0];
+// rotationMatrix = [   0.1417   -0.7409    0.6565; 0.9661   -0.0410   -0.2548;    0.2157    0.6703    0.7100];
+// translationVector = [ -29.2584   35.7824  725.5824];
+// camMatrix = cameraMatrix(instrinsicMatrix,rotationMatrix,translationVector)
+//
+// Authors
+// Tanmay Chaudhari
+
+        a=opencv_cameraMatrix(instrinsicMatrix,rotationMatrix,translationVector);
+        camMatrix(:,:,1)=a(1);
+	
+endfunction