2
   0.996429  -0.0402018    -0.07425   0.0467383
  -0.077553   -0.783493   -0.616542 -0.00456916
 -0.0333883    0.620098   -0.783813     0.62316
          0           0           0           1
  0.893109  -0.446538 -0.0544091  -0.109489
 -0.381074  -0.686756   -0.61899  -0.189336
  0.239036    0.57356  -0.783512   0.799518
         0          0          0          1
