2
   0.984882   -0.129871    0.114636   0.0177485
-0.00858023   -0.697524    -0.71651   0.0494477
   0.173015    0.704694   -0.688093    0.621246
          0           0           0           1
 0.772249 -0.623583  0.121556 -0.145162
 -0.39479 -0.620919   -0.6772 -0.144751
 0.497767  0.474978 -0.725689  0.784605
        0         0         0         1
