scannet_data/scene0002_00/pose/160.txt

0.957355 -0.028552 -0.287501 3.087480
0.213401 -0.600930 0.770288 2.511422
-0.194761 -0.798792 -0.569210 1.855067
0.000000 0.000000 0.000000 1.000000