2
   0.989831    0.041149   -0.136171   0.0753767
 -0.0587268   -0.753661   -0.654634 -0.00138914
  -0.129564    0.655974    -0.74358    0.677763
          0           0           0           1
  0.842483  -0.518608  -0.145838 -0.0509021
 -0.482592  -0.606206  -0.632155  -0.183264
  0.239433    0.60296  -0.760994   0.881576
         0          0          0          1
