scannet_data/scene0002_00/pose/1340.txt

0.444606 -0.726402 0.524085 3.647906
-0.895698 -0.355900 0.266571 4.445065
-0.007115 -0.587941 -0.808872 1.522849
0.000000 0.000000 0.000000 1.000000