2
  0.983009  0.0898953  -0.160036   0.124354
-0.0661823  -0.639641   -0.76582 0.00420079
 -0.171209     0.7634  -0.622823   0.558061
         0          0          0          1
 0.859281 -0.489498 -0.148418 0.0222405
-0.416389 -0.500881 -0.758775 -0.157754
 0.297079    0.7138 -0.634219  0.798138
        0         0         0         1
