scannet_data/scene0002_00/pose/1720.txt

-0.987348 -0.144861 0.064495 4.103903
-0.123256 0.445229 -0.886893 3.619636
0.099761 -0.883621 -0.457451 1.834862
0.000000 0.000000 0.000000 1.000000