scannet_data/scene0001_00/pose/340.txt

0.772048 0.282836 -0.569162 4.100192
0.635538 -0.351804 0.687260 4.709275
-0.005851 -0.892322 -0.451362 1.463592
0.000000 0.000000 0.000000 1.000000