scannet_data/scene0002_00/pose/1640.txt

-0.953505 -0.129712 0.272034 4.186521
-0.266046 -0.061784 -0.961978 3.552951
0.141587 -0.989625 0.024402 2.353834
0.000000 0.000000 0.000000 1.000000