scannet_data/scene0002_00/pose/0.txt

-0.877021 0.121711 -0.464779 3.922419
0.464910 0.459041 -0.757060 3.230202
0.121210 -0.880038 -0.459173 1.747047
0.000000 0.000000 0.000000 1.000000