2
   0.998236   0.0300193  -0.0512249   0.0457619
 -0.0179778   -0.669439   -0.742649 -0.00931764
 -0.0565858     0.74226   -0.667719    0.663237
          0           0           0           1
  0.905041  -0.425321 0.00198939 -0.0887037
 -0.286506    -0.6131  -0.736222  -0.172143
  0.314351    0.66574  -0.676737   0.877736
         0          0          0          1
