scannet_data/scene0002_00/pose/140.txt

0.944385 0.041211 -0.326249 3.210582
0.293604 -0.552486 0.780101 2.317269
-0.148099 -0.832503 -0.533859 1.850304
0.000000 0.000000 0.000000 1.000000