scannet_data/scene0002_00/pose/1840.txt

-0.893642 0.216836 -0.392920 4.034609
0.431301 0.656933 -0.618400 4.457430
0.124031 -0.722095 -0.680584 1.571958
0.000000 0.000000 0.000000 1.000000