scannet_data/scene0002_00/pose/1520.txt

-0.838668 -0.440473 0.320344 3.650986
-0.542833 0.628089 -0.557527 4.459182
0.044371 -0.641474 -0.765861 1.753952
0.000000 0.000000 0.000000 1.000000