2
 0.990177 0.0927819 -0.104596  0.196605
0.0152683 -0.815373 -0.578734 0.0091016
-0.138981  0.571453 -0.808781  0.657433
        0         0         0         1
  0.938289  -0.339798 -0.0644265  0.0982549
  -0.31489  -0.762298  -0.565461  -0.212741
   0.14303   0.550853  -0.822255   0.838494
         0          0          0          1
