Download MATLAB src.zip
See show_extrinsics.m for image 7
distance origin to camera: 1.59193 -0.277895 -12.0704
distance origin to camera: 10.0599 1.75648 -10.1847
distance origin to camera: 1.75231 0.41953 -12.6317
distance origin to camera: -4.24289 3.03199 -19.3471
See show_room.m