scannet_data/scene0002_00/pose/1600.txt

-0.956204 -0.122181 0.265982 4.031653
-0.258851 -0.071231 -0.963287 3.605863
0.136642 -0.989948 0.036484 1.942814
0.000000 0.000000 0.000000 1.000000