Hi Christopher,
I believe with respect to each point cloud, the camera is located at the origin. Hence, to show the camera position in the "Initial World Scene", you can show the first camera as:
plotCamera('Location',[0 0 0],'Orientation',eye(3),'Size',0.1);
The second camera can be shown as:
camPosRel = [0 0 0 1];
camPosTransformed = camPosRel*(tform.T)';
plotCamera('Location',camPosTransformed(1:3),'Orientation',tform.T(1:3,1:3),'Size',0.1);
Moving on, you can use the "accumTform" variable instead of "tform" to transform the camera from any point cloud frame ( [0 0 0 1] is the relative position) to the "world" or "initial scene"
Prashant
