scannet_data/scene0002_00/pose/1540.txt

-0.908563 -0.281171 0.308961 3.631108
-0.412250 0.483874 -0.771956 4.253746
0.067554 -0.828739 -0.555542 1.778512
0.000000 0.000000 0.000000 1.000000