2
  0.985602  -0.126781  -0.111872   0.128721
 -0.169033  -0.722986  -0.669865 -0.0203173
0.00404415    0.67913  -0.734007   0.631694
         0          0          0          1
   0.78544  -0.610743  -0.100383 -0.0256497
 -0.520265  -0.563627  -0.641599  -0.190922
  0.335274   0.556163  -0.760444    0.82949
         0          0          0          1
