scannet_data/scene0000_00/pose/1840.txt

0.992018 -0.032938 0.121720 5.227407
-0.124172 -0.423233 0.897472 4.185517
0.021955 -0.905422 -0.423944 1.328837
0.000000 0.000000 0.000000 1.000000