2
 0.0903316  -0.985295   0.145031  0.0841831
  -0.77851   -0.16068  -0.606716  -0.197072
  0.621098 -0.0581027  -0.781577   0.849015
         0          0          0          1
-0.586078  -0.78827  0.187465 -0.203135
-0.682308  0.355356 -0.638888 -0.144436
    0.437 -0.502347  -0.74611  0.758158
        0         0         0         1
