2
   0.983215    0.040066   -0.177995   0.0711005
  -0.110957   -0.643131   -0.757675 -0.00787967
  -0.144831    0.764708    -0.62789    0.592337
          0           0           0           1
  0.877801    -0.4498  -0.164759 -0.0557818
 -0.406312  -0.516952   -0.75344  -0.149376
  0.253724   0.728314   -0.63654   0.829685
         0          0          0          1
