The camera transform includes zooming, panning and rotation (icons from left to right, respectively). After activating an icon you can apply the transform in any of the views. The rotation does, of course, only work in a Shape view or a perspective view, since the other views are designated views along the coordinate axes. When the corresponding icons are activated (red background color), then you apply the transform by pressing the left mouse button and simultaneously dragging the mouse.
The zooming and panning do not necessarily have to be activated, since there are short-cuts for them. Panning can be applied by pressing the right mouse button and then dragging the mouse in the corresponding direction. If a mouse-wheel is available, you can zoom in and out using the mouse-wheel. Note, however, that using the mouse-wheel the stepping of the zoom is in rather large steps. For fine-tuning it is recommended to activate the zoom button and use the left mouse button and dragging.
For a precise handling of the zooming, panning and rotation, you can also use the Image X/Y Range, Image X/Y Center and Rotation parameters in the Parameter Panel of the Rendering Interface. The Camera Transforms applied with the mouse change these parameters automatically.