scannet_data/scene0000_00/pose/180.txt

-0.986631 0.050757 -0.154864 2.974404
0.162222 0.396804 -0.903455 2.970685
0.015594 -0.916499 -0.399733 1.414431
0.000000 0.000000 0.000000 1.000000