2
 0.829937 -0.262515   0.49223 0.0309369
0.0386817 -0.853155 -0.520222 0.0844282
 0.556514  0.450792  -0.69791  0.794287
        0         0         0         1
 0.571347 -0.641981  0.511296  -0.14577
-0.430441 -0.764832 -0.479324 -0.156587
 0.698773 0.0537778  -0.71332  0.833137
        0         0         0         1
