diff --git a/examples/matlab/VisualISAMExample.m b/examples/matlab/VisualISAMExample.m
index e16ffee6a..bbe67bd6b 100644
--- a/examples/matlab/VisualISAMExample.m
+++ b/examples/matlab/VisualISAMExample.m
@@ -24,10 +24,11 @@ nCameras = 10;
 height = 10;
 r = 30;
 poses = {};
+K = gtsamCal3_S2(500,500,0,640/2,480/2);
 for i=1:nCameras
     theta = (i-1)*2*pi/nCameras;
     t = gtsamPoint3([r*cos(theta), r*sin(theta), height]');
-    camera = gtsamSimpleCamera_lookat(t, gtsamPoint3(), gtsamPoint3([0,0,1]'), gtsamCal3_S2())
+    camera = gtsamSimpleCamera_lookat(t, gtsamPoint3, gtsamPoint3([0,0,1]'), K)
     poses{i} = camera.pose();
 end
 odometry = poses{1}.between(poses{2});
@@ -35,7 +36,6 @@ odometry = poses{1}.between(poses{2});
 poseNoise = gtsamSharedNoiseModel_Sigmas([0.001 0.001 0.001 0.1 0.1 0.1]');
 pointNoise = gtsamSharedNoiseModel_Sigma(3, 0.1);
 measurementNoise = gtsamSharedNoiseModel_Sigma(2, 1.0);
-K = gtsamCal3_S2(50,50,0,50,50);
 
 %% Create an ISAM object for inference
 isam = visualSLAMISAM;
diff --git a/examples/matlab/VisualSLAMExample.m b/examples/matlab/VisualSLAMExample.m
index 99d1a39a7..54ccd2b14 100644
--- a/examples/matlab/VisualSLAMExample.m
+++ b/examples/matlab/VisualSLAMExample.m
@@ -32,10 +32,11 @@ nCameras = 6;
 height = 0;
 r = 30;
 poses = {};
+K = gtsamCal3_S2(500,500,0,640/2,480/2);
 for i=1:nCameras
     theta = (i-1)*2*pi/nCameras;
     t = gtsamPoint3([r*cos(theta), r*sin(theta), height]');
-    camera = gtsamSimpleCamera_lookat(t, gtsamPoint3(), gtsamPoint3([0,0,1]'), gtsamCal3_S2())
+    camera = gtsamSimpleCamera_lookat(t, gtsamPoint3, gtsamPoint3([0,0,1]'), K)
     poses{i} = camera.pose();
 end
 
@@ -48,7 +49,6 @@ graph = visualSLAMGraph;
 
 %% Add factors for all measurements
 measurementNoise = gtsamSharedNoiseModel_Sigma(2,measurementNoiseSigma);
-K = gtsamCal3_S2(500,500,0,640/2,480/2);
 for i=1:nCameras
     camera = gtsamSimpleCamera(K,poses{i});
     for j=1:size(points,2)
diff --git a/examples/matlab/VisualSLAMExample_triangle.m b/examples/matlab/VisualSLAMExample_triangle.m
index 4fc1db320..dc9d8364c 100644
--- a/examples/matlab/VisualSLAMExample_triangle.m
+++ b/examples/matlab/VisualSLAMExample_triangle.m
@@ -23,10 +23,11 @@ nCameras = 6;
 height = 10;
 r = 30;
 poses = {};
+K = gtsamCal3_S2(500,500,0,640/2,480/2);
 for i=1:nCameras
     theta = (i-1)*2*pi/nCameras;
     t = gtsamPoint3([r*cos(theta), r*sin(theta), height]');
-    camera = gtsamSimpleCamera_lookat(t, gtsamPoint3(), gtsamPoint3([0,0,1]'), gtsamCal3_S2())
+    camera = gtsamSimpleCamera_lookat(t, gtsamPoint3, gtsamPoint3([0,0,1]'), K)
     poses{i} = camera.pose();
 end
 
@@ -34,7 +35,6 @@ end
 graph = visualSLAMGraph;
 
 %% Add factors for all measurements
-K = gtsamCal3_S2(500,500,0,640/2,480/2);
 measurementNoiseSigma=1; % in pixels
 measurementNoise = gtsamSharedNoiseModel_Sigma(2,measurementNoiseSigma);
 for i=1:nCameras