2
 0.988873  0.105895 -0.104478     0.183
0.0210974 -0.795062 -0.606161 0.0595691
-0.147256  0.597212  -0.78845  0.656552
        0         0         0         1
  0.982487  -0.185799 -0.0140675  0.0800458
 -0.155255  -0.774548  -0.613166  -0.153935
   0.10303   0.604611  -0.789829   0.847743
         0          0          0          1
