2
  0.976965  -0.141294   0.159922  0.0125988
-0.0458272  -0.870832   -0.48944 -0.0512454
   0.20842   0.470837  -0.857248   0.686749
         0          0          0          1
   0.7577 -0.627126  0.180564  -0.15164
-0.494757 -0.732436 -0.467712 -0.282929
 0.425565   0.26505 -0.865242  0.775202
        0         0         0         1
