scannet_data/scene0001_00/pose/200.txt

0.953149 -0.185680 0.238808 4.616339
-0.300980 -0.503061 0.810149 3.374344
-0.030293 -0.844069 -0.535378 1.340269
0.000000 0.000000 0.000000 1.000000