scannet_data/scene0002_00/pose/1020.txt

0.893292 -0.156201 0.421463 3.752943
-0.443967 -0.160261 0.881595 2.410169
-0.070162 -0.974637 -0.212508 2.537908
0.000000 0.000000 0.000000 1.000000