scannet_data/scene0001_00/pose/140.txt

0.392834 -0.359027 0.846629 4.650722
-0.919269 -0.178353 0.350905 3.534529
0.025015 -0.916128 -0.400106 1.396023
0.000000 0.000000 0.000000 1.000000