2
   0.986734  0.00660066    -0.16221   0.0771194
  -0.102075   -0.751734   -0.651519 -0.00241753
   -0.12624    0.659434   -0.741087    0.675644
          0           0           0           1
  0.940455  -0.330178 -0.0807951 -0.0533728
 -0.297737  -0.685459  -0.664453  -0.182818
  0.164006   0.648944  -0.742949   0.879325
         0          0          0          1
