scannet_data/scene0002_00/pose/1140.txt

0.953610 -0.273826 0.125089 3.084278
-0.278335 -0.643633 0.712928 2.634289
-0.114707 -0.714672 -0.689990 1.820605
0.000000 0.000000 0.000000 1.000000