scannet_data/scene0001_00/pose/1520.txt

0.212367 -0.336744 0.917335 3.786888
-0.977181 -0.069081 0.200863 3.682663
-0.004269 -0.939059 -0.343730 1.389884
0.000000 0.000000 0.000000 1.000000