scannet_data/scene0002_00/pose/1500.txt

-0.541271 -0.702472 0.462125 3.722905
-0.840834 0.455405 -0.292582 4.554218
-0.004923 -0.546936 -0.837160 1.751443
0.000000 0.000000 0.000000 1.000000