scannet_data/scene0001_00/pose/20.txt

-0.828729 -0.207160 0.519898 4.535391
-0.559649 0.304418 -0.770794 3.909086
0.001411 -0.929739 -0.368217 1.384167
0.000000 0.000000 0.000000 1.000000