scannet_data/scene0002_00/pose/1040.txt

0.844981 -0.082487 0.528396 3.732533
-0.532656 -0.041504 0.845313 2.407001
-0.047797 -0.995727 -0.079008 2.425020
0.000000 0.000000 0.000000 1.000000