scannet_data/scene0001_00/pose/1420.txt

-0.014977 -0.382879 0.923677 2.250407
-0.999876 0.001207 -0.015712 4.252488
0.004901 -0.923798 -0.382850 1.428017
0.000000 0.000000 0.000000 1.000000