scannet_data/scene0002_00/pose/1680.txt

-0.880543 -0.067490 0.469137 4.192709
-0.437660 -0.264148 -0.859465 3.632901
0.181927 -0.962118 0.203056 2.248348
0.000000 0.000000 0.000000 1.000000